pid gecomment
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
Diff: main.cpp
- Revision:
- 47:ddaa59d48aca
- Parent:
- 46:4a8889f9dc9f
- Child:
- 48:0a16643c9de4
- Child:
- 49:818a0e90ed9c
--- a/main.cpp Wed Nov 02 16:24:59 2016 +0000 +++ b/main.cpp Thu Nov 03 08:43:08 2016 +0000 @@ -20,16 +20,15 @@ DigitalOut green(LED_GREEN); //motors -DigitalOut richting_motor1(D4); -PwmOut pwm_motor1(D5); -DigitalOut richting_motor2(D7); -PwmOut pwm_motor2(D6); +DigitalOut richting_motor1(D7); ///motor 1 aansluiting op motor 1 +PwmOut pwm_motor1(D6); +DigitalOut richting_motor2(D4); +PwmOut pwm_motor2(D5); //===================================================================================== //define variables //other -int onoffsignal_rightarm=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation -int switch_signal_leftarm=0; // switching between motors. + double cut_off_value_biceps_right =0.04; //gespecificeerd door floortje double cut_off_value_biceps_left=-0.04; double cut_off_value_triceps=-0.04; @@ -75,16 +74,20 @@ switch_signal++; green=!green; red=!red; + if (switch_signal%2==0) + {pc.printf("If you contract the biceps, the robot will go right \r\n"); + pc.printf("If you contract the triceps, the robot will go left \r\n"); + pc.printf("\r\n"); + } + + + else {pc.printf("If you contract the biceps, the robot will go up \r\n"); pc.printf("If you contract the triceps, the robot will go down \r\n"); + pc.printf("\r\n"); } - - else - {pc.printf("If you contract the biceps, the robot will go right \r\n"); - pc.printf("If you contract the triceps, the robot will go left \r\n"); - } - + } } @@ -155,20 +158,25 @@ int main() { pc.baud(115200); -green=0; -red=1; +green=1; +red=0; sample_timer.attach(&filter, 0.001); //continously execute the EMG reader and filter, it ensures that filter and sampling is executed every 1/frequency seconds ticker_switch.attach(&switch_function,1.0); -if (switch_signal%2==0) +pc.printf("We will start the demonstration\r\n"); + + if (switch_signal%2==0) + {pc.printf("If you contract the biceps, the robot will go right \r\n"); + pc.printf("If you contract the triceps, the robot will go left \r\n"); + pc.printf("\r\n"); + } + + + else {pc.printf("If you contract the biceps, the robot will go up \r\n"); pc.printf("If you contract the triceps, the robot will go down \r\n"); - } - - else - {pc.printf("If you contract the biceps, the robot will go right \r\n"); - pc.printf("If you contract the triceps, the robot will go left \r\n"); + pc.printf("\r\n"); } //==============================================================================================