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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
another_try_from_scratch_on_emg
by 
sibren vuurberg
Revision 56:a38412383477, committed 2016-11-03
- Comitter:
- FloorC
- Date:
- Thu Nov 03 16:41:10 2016 +0000
- Parent:
- 55:d742332ced11
- Commit message:
- DEMO_VERSION!
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Nov 03 15:27:59 2016 +0000
+++ b/main.cpp Thu Nov 03 16:41:10 2016 +0000
@@ -310,20 +310,20 @@
while (true) { // neverending loop
-counts_encoder1 = Encoder1.getPulses();
+/*counts_encoder1 = Encoder1.getPulses();
rev_counts_motor1=(float)counts_encoder1/(gearboxratio*rev_rond);
-rev_counts_motor1_rad=rev_counts_motor1*6.28318530718;
+rev_counts_motor1_rad=rev_counts_motor1*6.28318530718; */
-pc.printf("%f \r\n", d_ref);
+pc.printf("%f %f \r \n", d_ref, rev_counts_motor1_rad);
//pc.printf("%f ", rev_counts_motor1_rad);
//pc.printf("%f",w_var);
-pc.printf("%d\n",start_motor);
+//pc.printf("%d\n",start_motor);
- if (onoffsignal_biceps==-1) //left biceps contracted
- {
- if (switch_signal%2==0) //switch even
- {
+ if (onoffsignal_biceps==-1){ //left biceps contracted
+
+ if (switch_signal%2==0){ //switch even
+
speedmotor1=controlOutput;
//richting_motor1 = ccw; //motor 1, left
//pwm_motor1 = speedmotor1; //speed of motor 1
@@ -374,6 +374,8 @@
pwm_motor2=0;
pwm_motor1=0;
start_motor = true;
+
+
}
}//while true closed