Revision 41:327c9f229608, committed 2015-11-03

Comitter:

Fernon

Date:

Tue Nov 03 10:04:54 2015 +0000

Parent:

40:cac08f589732

Commit message:

Small changes to limits and thresholds

Changed in this revision

--- a/main.cpp	Thu Oct 29 15:15:45 2015 +0000
+++ b/main.cpp	Tue Nov 03 10:04:54 2015 +0000
@@ -56,7 +56,7 @@
 bool            OutRange = false; //In Range or not
 
 // Motor 2 (Rotation)
-const double    n2 = 0.334;
+const double    n2 = 0.27/2; // 40 degrees of rotation to left and right
 int             Pulses2;
 double          Rotatie2 = 0;
 double          Goal2;
@@ -68,7 +68,7 @@
 const double    Kd2 = 10;
 const double    Ki2 = 0.2;
 double          v2 = 0;
-double          turnlimit = 0.4;
+double          turnlimit;
 // Margin 2 = 0
 bool            OutRange2 = false;
 
@@ -272,10 +272,10 @@
         ledC = 1;
         TijdEMGCal.stop();
         TijdEMGCal.reset();
-        T1 = 0.35*Max; // Determination of thresholds
-        T2 = 0.5*Max;
-        T3 = 0.35*Max2;
-        T4 = 0.5*Max2;
+        T1 = 0.3*Max; // Determination of thresholds
+        T2 = 0.55*Max;
+        T3 = 0.25*Max2;
+        T4 = 0.45*Max2;
         wait (3);
         Excecute = true;
     }
@@ -337,11 +337,11 @@
             if (Rotatie2 >= -turnlimit && Rotatie2 <= turnlimit && OutRange2 == false) { //EMG aansturing when in range / not OutRange
                 if (y18 >= T4 ) {
                     Direction2 = 1;
-                    v2 = 0.06;
+                    v2 = 0.055;
                 }
                 if (y18 > T3 && y18 < T4) {
                     Direction2 = 0;
-                    v2 = 0.06;
+                    v2 = 0.055;
                 }
                 if (y18 <= T3) {
                     Direction2 = 0;