Alles in 1
Dependencies: Encoder HIDScope MODSERIAL QEI mbed
Fork of RoboBird3 by
Diff: main.cpp
- Revision:
- 29:7653adbbb101
- Parent:
- 28:b7d01a55530f
- Child:
- 30:37e778f27fce
--- a/main.cpp Fri Oct 16 09:27:42 2015 +0000 +++ b/main.cpp Fri Oct 16 10:35:24 2015 +0000 @@ -11,7 +11,7 @@ QEI Encoder(D10,D11,NC,32,QEI::X2_ENCODING); //Encoder DigitalOut Direction2(D7); PwmOut PowerMotor2(D6); -QEI BIER(D12,D13,NC,32,QEI::X2_ENCODING); +QEI Encoder2(D12,D13,NC,32,QEI::X2_ENCODING); PwmOut PowerServo(D3); // Buttons & EMG (PotMeter) @@ -30,7 +30,7 @@ // Debugging Serial pc(USBTX, USBRX); -HIDScope scope(3); +HIDScope scope(6); @@ -120,9 +120,9 @@ Errori2 = 0; } if (Error2>=0) { - Direction2 = 1; + Direction2 = 0; } else { - Direction2 = 0; + Direction2 = 1; } v2=Kp2*Error2 + Kd2*Errord2 + Ki2*Errori2; } @@ -132,11 +132,14 @@ { Pulses = Encoder.getPulses(); Rotatie = (Pulses*twopi)/4200; - Pulses2 = BIER.getPulses(); + Pulses2 = Encoder2.getPulses(); Rotatie2 = (Pulses2*twopi)/4200; scope.set(0,Goal); scope.set(1,Rotatie); scope.set(2,emg_value); + scope.set(3,Goal2); + scope.set(4,Rotatie2); + scope.set(5,emg_value2); scope.send(); } void EMGsample() @@ -179,7 +182,7 @@ PowerServo.period_ms(20); while (true) { Encoder.reset(); - BIER.reset(); + Encoder2.reset(); if (Button == 0) { Excecute =! Excecute; } @@ -228,11 +231,11 @@ if (Rotatie2 >= -turnlimit && Rotatie2 <= turnlimit && OutRange2 == false) { // EMG aansturing if (emg_value2 >= T2 ) { Direction2 = 1; - v2 = 0.1; + v2 = 0.05; } if (emg_value2 > T1 && emg_value2 < T2) { Direction2 = 0; - v2 = 0.1; + v2 = 0.05; } if (emg_value2 <= T1) { Direction2 = 0;