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;