Fernon Eijkhoudt
/
ROBOBIRDS_FINAL
EMG driven robot which shoots elastic bands
Fork of RoboBirdV1 by
Diff: main.cpp
- Revision:
- 30:37e778f27fce
- Parent:
- 29:7653adbbb101
- Child:
- 31:85d3b4db5e2b
--- a/main.cpp Fri Oct 16 10:35:24 2015 +0000 +++ b/main.cpp Tue Oct 20 12:03:30 2015 +0000 @@ -155,14 +155,13 @@ PowerServo.write(0.27); wait (1); PowerServo.write(0.04); - wait (1); Fired=Fired+1; - if (Fired >= 3) { + pc.printf("Fire = %i", Fired); + if (Fired == 3) { wait (1); Excecute = false; Home = true; - Fired = 0; - } + } } @@ -188,8 +187,6 @@ } while (Excecute ) { // Eerst wordt motor 1 aangestuurd - pc.printf("Rotatie = %f \n", Rotatie); - pc.printf("Rotatie2 = %f \n", Rotatie2); if (Rotatie >= upperlimit) { //Als hij buiten bereik is Goal = upperlimit - margin; OutRange = true; @@ -231,11 +228,11 @@ if (Rotatie2 >= -turnlimit && Rotatie2 <= turnlimit && OutRange2 == false) { // EMG aansturing if (emg_value2 >= T2 ) { Direction2 = 1; - v2 = 0.05; + v2 = 0.1; } if (emg_value2 > T1 && emg_value2 < T2) { Direction2 = 0; - v2 = 0.05; + v2 = 0.1; } if (emg_value2 <= T1) { Direction2 = 0; @@ -248,10 +245,11 @@ } while (Home) { //Terugkeren naar vaste positie + pc.printf("Home\n"); OutRange = true; //Hiermee wordt het PID gedeelte van de motor control aangestuurd. Goal = 0; Goal2 = 0; - if (fabs(Error)<=0.0015 && fabs(Error2)<=0.0015) { + if (fabs(Error)<=0.015 && fabs(Error2)<=0.015) { timer.start(); } else { timer.stop(); @@ -265,6 +263,7 @@ Errori2 = 0; Errord2 = 0; Errorp2 = 0; + Fired = 0; } } }