EMG driven robot which shoots elastic bands
Fork of ROBOBIRDS_FINAL by
Diff: main.cpp
- Revision:
- 35:b71140a46b9c
- Parent:
- 34:67f211c08e74
- Child:
- 36:5d1225d72bca
--- a/main.cpp Tue Oct 27 16:24:19 2015 +0000 +++ b/main.cpp Tue Oct 27 16:38:47 2015 +0000 @@ -181,9 +181,10 @@ y6 = fabs(y5); y7 = biquad(y6,f6_v1,f6_v2,f6_a1,f6_a2,gainLP6*f6_b0,gainLP6*f6_b1,gainLP6*f6_b2); y8 = biquad(y7,f7_v1,f7_v2,f7_a1,f7_a2,gainLP7*f7_b0,gainLP7*f7_b1,gainLP7*f7_b2); - + + // EMG 2 - u10 = 0; //EMG2.read(); + u10 = EMG2.read(); // Notch y10 = biquad(u10,f3_v3,f3_v4,f3_a1,f3_a2,f3_b0*gainNotch3,f3_b1*gainNotch3,f3_b2*gainNotch3); y12 = biquad(y10,f4_v3,f4_v4,f4_a1,f4_a2,f4_b0*gainNotch4,f4_b1*gainNotch4,f4_b2*gainNotch4); @@ -197,6 +198,7 @@ y16 = fabs(y15); y17 = biquad(y16,f6_v3,f6_v4,f6_a1,f6_a2,gainLP6*f6_b0,gainLP6*f6_b1,gainLP6*f6_b2); y18 = biquad(y17,f7_v3,f7_v4,f7_a1,f7_a2,gainLP7*f7_b0,gainLP7*f7_b1,gainLP7*f7_b2); + y18 = EMG.read(); if (Cali == true) { if (y8 >= Max) { @@ -232,6 +234,7 @@ } } } + v = 0; PowerMotor.write(fabs(v)); // Dan motor 2 (rotatie) @@ -351,11 +354,11 @@ if (Rotatie2 >= -turnlimit && Rotatie2 <= turnlimit && OutRange2 == false) { // EMG aansturing if (y18 >= T4 ) { Direction2 = 1; - v2 = 0.05; + v2 = 0.08; } if (y18 > T3 && y18 < T4) { Direction2 = 0; - v2 = 0.05; + v2 = 0.08; } if (y18 <= T3) { Direction2 = 0;