Diff: main.cpp

Revision:

10:d156dc2efe5c

Parent:

9:9000c5c1a0d6

Child:

11:ea9fe75faf63

--- a/main.cpp	Wed Oct 29 19:13:44 2014 +0000
+++ b/main.cpp	Wed Oct 29 20:40:14 2014 +0000
@@ -29,9 +29,9 @@
 #define K_D_GM (0.003 /TSAMP)
 #define I_LIMIT 1.
 #define RADTICKGM 0.003927
-#define THETA0 6.85             //hoe bepaald?????
-#define THETA1 7.77
-#define THETA2 9.21
+#define THETADOT0 6.85
+#define THETADOT1 7.77
+#define THETADOT2 9.21
 
 TextLCD lcd(PTE5, PTE3, PTE2, PTB11, PTB10, PTB9); // rs, e, d4-d7 CONTROLEREN!! (Pinnen wel vrij :) )! //TextLCD lcd(p15, p16, p17, p18, p19, p20, TextLCD::LCD16x4); // rs, e, d4-d7 ok
 
@@ -104,7 +104,7 @@
     float error_km;
     static float prev_error_km = 0;
     float           out_p_km = 0;
-    static float    out_i_km = 0;
+    static float    out_i_km = 0;       //waarom static float??????
     float           out_d_km = 0;
     error_km  = setpointkm-measurementkm;
     out_p_km  = error_km*K_P_KM;
@@ -222,7 +222,7 @@
                             }//einde if statement
                             break;
                             }//einde case bicepsmax
-                    case TRICEPSMAX: {                          //maximale inspanning biceps
+                    case TRICEPSMAX: {                          //maximale inspanning triceps
                         lcd.cls();
                         lcd.locate(0,0);         
                         lcd.printf("Kalibratie");               //regel 1 LCD scherm
@@ -274,7 +274,7 @@
                     tijdtimer.start();
                     while( tijdtimer <= 3) {
                         if (kalibratiewaarde_biceps > 0.3 && kalibratiewaarde_triceps < 0.3) { //linker goal!
-                            setpointkm = -127;          //11,12graden naar rechts???????
+                            setpointkm = -127;          //11,12graden naar links
                             new_pwm_km = pidkm(setpointkm, motor1.getPosition());
                             clamp(&new_pwm_km, -1,1);
                             if(new_pwm_km < 0)
@@ -287,7 +287,7 @@
                                 }
                             }
                         if (kalibratiewaarde_biceps < 0.3 && kalibratiewaarde_triceps > 0.3) { //rechter goal!
-                            setpointkm = 127;        //11,12graden naar links??????
+                            setpointkm = 127;        //11,12graden naar rechts
                             new_pwm_km = pidkm(setpointkm, motor1.getPosition());
                             clamp(&new_pwm_km, -1,1);
                             if(new_pwm_km < 0)
@@ -328,7 +328,7 @@
                 int16_t setpointgm;
                 float new_pwm_gm;
                 float kalibratiewaarde_biceps;
-                float theta;
+                float thetadot;
                 kalibratiewaarde_biceps=(envelop_emg0/max_value_biceps);
                 tijdtimer.start();
                 while (tijdtimer <=3 ) {
@@ -339,9 +339,9 @@
                         lcd.locate(0,1);
                         lcd.printf("Daar gaat ie!");            //regel 2 LCD scherm
                         tijdslaan.start();
-                        theta=THETA0;
-                        setpointgm = (theta*tijdslaan/RADTICKGM);
-                        new_pwm_gm = pidgm(setpointgm, motor2.getPosition());
+                        thetadot=THETADOT0;
+                        setpointgm = (thetadot*tijdslaan/RADTICKGM);
+                        new_pwm_gm = pidgm(setpointgm, motor2.getPosition());       //wat gebeurt hier????
                         clamp(&new_pwm_gm, -1,1);
                         if(new_pwm_gm < 0)
                         motordir2 = 0;
@@ -360,8 +360,8 @@
                         lcd.printf("MIDDELSTE GOAL");            //regel 1 LCD scherm
                         lcd.locate(0,1);
                         lcd.printf("DAAR GAAT IE!");             //regel 2 LCD scherm
-                        theta=THETA1;
-                        setpointgm = ((theta*tijdslaan)/RADTICKGM);
+                        thetadot=THETADOT1;
+                        setpointgm = ((thetadot*tijdslaan)/RADTICKGM);
                         new_pwm_gm = pidgm(setpointgm, motor2.getPosition());
                         clamp(&new_pwm_gm, -1,1);
                         if(new_pwm_gm < 0)
@@ -380,8 +380,8 @@
                         lcd.printf("BOVENSTE GOAL");             //regel 1 LCD scherm
                         lcd.locate(0,1);
                         lcd.printf("DAAR GAAT IE!");             //regel 2 LCD scherm
-                        theta=THETA2;
-                        setpointgm = ((theta*tijdslaan)/RADTICKGM);
+                        thetadot=THETADOT2;
+                        setpointgm = ((thetadot*tijdslaan)/RADTICKGM);
                         new_pwm_gm = pidgm(setpointgm, motor2.getPosition());
                         clamp(&new_pwm_gm, -1,1);
                         if(new_pwm_gm < 0)
@@ -425,4 +425,4 @@
 
     } //while
 } //int main
-
+}}