Dominique Clevers
/
THESLAP_EINDSCRIPT
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Dependencies: Encoder HIDScope MODSERIAL TextLCD mbed-dsp mbed
Revision 4:305671faeb2b, committed 2014-11-03
- Comitter:
- DominiqueC
- Date:
- Mon Nov 03 19:57:46 2014 +0000
- Parent:
- 3:fbe46d4e4b3f
- Child:
- 5:060d376291b5
- Commit message:
- oude hoek!!
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Nov 03 19:15:03 2014 +0000
+++ b/main.cpp Mon Nov 03 19:57:46 2014 +0000
@@ -28,9 +28,9 @@
#define K_D_GM (0.00000001 /TSAMP)
#define I_LIMIT 1.
#define RADTICKGM 0.003927
-#define THETADOT0 16 //oud 6.85
-#define THETADOT1 16 //oud 7.77
-#define THETADOT2 16 //oud 9.21
+#define THETADOT0 6.85
+#define THETADOT1 7.77
+#define THETADOT2 9.21
TextLCD lcd(PTD2, PTA12, PTB2, PTB3, PTC2, PTA13);
@@ -171,10 +171,10 @@
while(true) {
switch(state) {
case RUST: { //Aanzetten
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
lcd.printf(" --THE SLAP -- "); //regel 1 LCD scherm
- lcd.locate(0,1);
+ lcd.locate(0,1);
lcd.printf(" GROEP 5 "); //regel 2 LCD scherm
wait(5);
state = KALIBRATIE;
@@ -184,14 +184,15 @@
case KALIBRATIE: { //kalibreren met maximale inspanning
max_value_biceps=0;
max_value_deltoid=0;
+
//maximale inspanning biceps
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
- lcd.printf("Kalibratie1:"); //LCD scherm
+ lcd.printf("Kalibratie1:");
lcd.locate(0,1);
- lcd.printf("Span biceps!");
+ lcd.printf("Span biceps!");
wait(5);
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("Meting loopt");
tijdtimer.reset();
@@ -207,14 +208,14 @@
wait(5);
//maximale inspanning deltoid
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("Kalibratie2:");
- lcd.locate(0,1);
+ lcd.locate(0,1);
lcd.printf("Span deltoid!");
wait(5);
tijdtimer.start();
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("Meting loopt");
while (tijdtimer.read() <= 3) {
@@ -231,9 +232,9 @@
break;
}// einde kalibratie case
- case RICHTEN: { //batje richten (gebruik biceps en deltoid)
+ case RICHTEN: { //batje richten (gebruik deltoid)
wait(3);
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("Richten"); //regel 1 LCD scherm
lcd.locate(0,1);
@@ -241,25 +242,24 @@
float setpointkm;
float new_pwm_km;
wait(5);
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("Meting loopt");
float kalibratiewaarde_deltoid;
kalibratiewaarde_deltoid=(envelop_emg1/max_value_deltoid);
- //pc.printf("deltoid %f\n\r", kalibratiewaarde_deltoid); //WEGHALEN LATER
if (kalibratiewaarde_deltoid >= 0.35) {
- setpointkm = -343.57; //11,12 (-127)graden naar links//30 graden (-343.57) naar links
- lcd.cls();
+ setpointkm = -127; //11,12 graden naar links
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("links");
} else if (kalibratiewaarde_deltoid>0.1 && kalibratiewaarde_deltoid<=0.35) {
setpointkm = 0; //11,12graden naar rechts
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("midden");
} else {
- setpointkm = 343.57;
- lcd.cls();
+ setpointkm = 127; //11,12 graden naar rechts
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("rechts");
}
@@ -281,9 +281,9 @@
break;
}
- case SLAAN: {
+ case SLAAN: { //batje slaan (gebruik biceps)
wait(3);
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("Slaan"); //regel 1 LCD scherm
lcd.locate(0,1);
@@ -294,30 +294,29 @@
float setpointkm;
float new_pwm_km;
wait(5);
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("Meting loopt");
float kalibratiewaarde_biceps;
kalibratiewaarde_biceps=(envelop_emg0/max_value_biceps);
- //pc.printf("biceps %f\n\r", kalibratiewaarde_biceps); //WEGHALEN LATER
- if (kalibratiewaarde_biceps <= 0.2) { //kalibratiewaarde_biceps<0.3 goal onderin
+ if (kalibratiewaarde_biceps <= 0.2) { //kalibratiewaarde_biceps<0.2 goal onderin
thetadot=THETADOT0;
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("ONDERSTE GOAL");
- } else if (kalibratiewaarde_biceps>0.2 && kalibratiewaarde_biceps<=0.4) { //0.3<kalibratiewaarde_biceps<0.6 goal midden
+ } else if (kalibratiewaarde_biceps>0.2 && kalibratiewaarde_biceps<=0.4) { //0.2<kalibratiewaarde_biceps<0.4 goal midden
thetadot=THETADOT1;
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("MIDDELSTE GOAL");
- } else { //goal bovenin
+ } else { //goal bovenin
thetadot=THETADOT2;
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("BOVENSTE GOAL");
}
wait(3);
- lcd.cls();
+ lcd.cls();
lcd.locate(0,0);
lcd.printf("Daar gaat ie!");
@@ -356,8 +355,7 @@
state = HOME;
break;
- case HOME: {
- //pc.printf("HOMESTATE");
+ case HOME: { //terugbewegen naar beginpositie
float setpointgm;
float new_pwm_gm;
float setpointkm;