Fernon Eijkhoudt
/
ROBOBIRDS_FINAL
EMG driven robot which shoots elastic bands
Fork of RoboBirdV1 by
Diff: main.cpp
- Revision:
- 15:f7e2b20f4dca
- Parent:
- 14:b9c925a8176a
- Child:
- 16:b0ec8e6a8ad4
--- a/main.cpp Wed Oct 07 14:48:06 2015 +0000 +++ b/main.cpp Wed Oct 07 17:24:39 2015 +0000 @@ -5,13 +5,17 @@ DigitalOut Direction(D4); //1 = CCW - 0 = CW PwmOut PowerMotor(D5); //van 0 tot 1 +PwmOut PowerServo(D7); DigitalIn Button(D3); +DigitalIn Button2(D2); AnalogIn PotMeter(A1); Encoder MotorEncoder(D12,D13); //Encoder Serial pc(USBTX, USBRX); Ticker MotorWrite; +Ticker Sender; HIDScope scope(3); + double z=0; //initiele waarde potmeter const double twopi = 6.2831853071795; const double pi = twopi/2; @@ -26,7 +30,7 @@ bool Excecute = false; double Fs=100; -double n = 8; +double n = 3; void MotorSet() { @@ -38,13 +42,21 @@ } PowerMotor.write(fabs(v)); } - +void Send() +{ + scope.set(0,Goal); + scope.set(1,Rotatieup); + scope.set(2,Error); +// scope.set(2,v); + scope.send(); + } int main() { upperlimit = n*twopi; pc.baud(115200); PowerMotor.write(0); - MotorWrite.attach(MotorSet,1/Fs); // Deze ticker moet de waarde uitlezen van de PotMeter 10 keer per seconde + Sender.attach(Send,1/Fs/2); + MotorWrite.attach(MotorSet,1/Fs); // Deze ticker moet de waarde uitlezen van de PotMeter Fs keer per seconde while (true) { if (Button == 0) { Excecute =! Excecute; @@ -58,14 +70,10 @@ Goal = PotMeter.read()*upperlimit; // Het doel waar hij naar toe moet Error = Goal-Rotatieup; // De error die het motortje maakt ten opzichte van je Goal pc.printf("Error = %f\n Goal = %f\n", Error, Goal); - if (Error>=-0.1 && Error<=0.1) { + if (Error>=-0.001 && Error<=0.001) { Excecute=false; - PowerMotor.write(0); + v=0; } - scope.set(0,Goal); - scope.set(1,Rotatieup); - scope.set(2,Error); - scope.send(); } } } \ No newline at end of file