emg zooi er op
Dependencies: HIDScope MODSERIAL QEI mbed
Fork of Wearealltogheter_goed by
main.cpp@23:fdde3e4b9e69, 2016-10-25 (annotated)
- Committer:
- Frostworks
- Date:
- Tue Oct 25 10:47:41 2016 +0000
- Revision:
- 23:fdde3e4b9e69
- Parent:
- 22:ad85b8acf8b5
- Child:
- 24:bdd74b91abbb
the mother code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:32bb76391d89 | 1 | #include "mbed.h" |
vsluiter | 11:ce72ec658a95 | 2 | #include "HIDScope.h" |
Frostworks | 21:2b55d53e11f6 | 3 | #include "MODSERIAL.h" |
Frostworks | 23:fdde3e4b9e69 | 4 | #include "QEI.h" |
Frostworks | 23:fdde3e4b9e69 | 5 | |
Frostworks | 23:fdde3e4b9e69 | 6 | DigitalOut led_g(LED_GREEN); |
Frostworks | 23:fdde3e4b9e69 | 7 | DigitalOut led_b(LED_BLUE); |
Frostworks | 23:fdde3e4b9e69 | 8 | DigitalOut led_r(LED_RED); |
Frostworks | 23:fdde3e4b9e69 | 9 | |
Frostworks | 23:fdde3e4b9e69 | 10 | DigitalOut M1_Rotate(D2); // voltage only base rotation |
Frostworks | 23:fdde3e4b9e69 | 11 | PwmOut M1_Speed(D3); // voltage only base rotation |
Frostworks | 23:fdde3e4b9e69 | 12 | |
Frostworks | 23:fdde3e4b9e69 | 13 | MODSERIAL pc(USBTX, USBRX); |
Frostworks | 23:fdde3e4b9e69 | 14 | |
Frostworks | 23:fdde3e4b9e69 | 15 | //QEI wheel(PinName channelA, PinName channelB, PinName index, int pulsesPerRev, Encoding encoding=X2_ENCODING) |
Frostworks | 23:fdde3e4b9e69 | 16 | QEI motor2(D10,D11,NC,8400,QEI::X4_ENCODING); |
Frostworks | 23:fdde3e4b9e69 | 17 | QEI motor3(D12,D13,NC,8400,QEI::X4_ENCODING); |
Frostworks | 23:fdde3e4b9e69 | 18 | |
Frostworks | 23:fdde3e4b9e69 | 19 | DigitalOut M2_Rotate(D4); // encoder side pot 2 translation |
Frostworks | 23:fdde3e4b9e69 | 20 | PwmOut M2_Speed(D5); // encoder side pot 2 translation |
Frostworks | 23:fdde3e4b9e69 | 21 | |
Frostworks | 23:fdde3e4b9e69 | 22 | DigitalOut M3_Rotate(D7); // encoder side pot 1 spatel rotation |
Frostworks | 23:fdde3e4b9e69 | 23 | PwmOut M3_Speed(D6); // encoder side pot 1 spatel rotation |
Frostworks | 23:fdde3e4b9e69 | 24 | |
Frostworks | 23:fdde3e4b9e69 | 25 | DigitalIn links(SW3); |
Frostworks | 23:fdde3e4b9e69 | 26 | DigitalIn rechts(SW2); |
Frostworks | 23:fdde3e4b9e69 | 27 | |
Frostworks | 23:fdde3e4b9e69 | 28 | AnalogIn pot1(A4); // pot 1 motor 1 |
Frostworks | 23:fdde3e4b9e69 | 29 | AnalogIn pot2(A3); // pot 2 motor 3 |
vsluiter | 0:32bb76391d89 | 30 | |
vsluiter | 4:8b298dfada81 | 31 | //Define objects |
tomlankhorst | 19:2bf824669684 | 32 | AnalogIn emg0( A0 ); |
tomlankhorst | 19:2bf824669684 | 33 | AnalogIn emg1( A1 ); |
Frostworks | 23:fdde3e4b9e69 | 34 | DigitalIn buttonCalibrate(D9); |
Frostworks | 23:fdde3e4b9e69 | 35 | |
Frostworks | 23:fdde3e4b9e69 | 36 | bool draairechts; |
Frostworks | 23:fdde3e4b9e69 | 37 | bool draailinks; |
Frostworks | 23:fdde3e4b9e69 | 38 | bool turn = 0; |
Frostworks | 23:fdde3e4b9e69 | 39 | float waiter = 0.1; |
Frostworks | 23:fdde3e4b9e69 | 40 | float afstand = 200; |
Frostworks | 23:fdde3e4b9e69 | 41 | float translation = 0; |
Frostworks | 23:fdde3e4b9e69 | 42 | float degrees3 = 0; |
Frostworks | 23:fdde3e4b9e69 | 43 | |
Frostworks | 23:fdde3e4b9e69 | 44 | float Puls_degree = (8400/360); |
Frostworks | 23:fdde3e4b9e69 | 45 | float wheel1 = 16; |
Frostworks | 23:fdde3e4b9e69 | 46 | float wheel2 = 31; |
Frostworks | 23:fdde3e4b9e69 | 47 | float wheel3 = 41; |
Frostworks | 23:fdde3e4b9e69 | 48 | float overbrenging = ((wheel2/wheel1)*(wheel3/wheel1)); |
Frostworks | 23:fdde3e4b9e69 | 49 | float pi = 3.14159265359; |
Frostworks | 21:2b55d53e11f6 | 50 | |
Frostworks | 21:2b55d53e11f6 | 51 | volatile float x; |
Frostworks | 21:2b55d53e11f6 | 52 | volatile float x_prev =0; |
Frostworks | 21:2b55d53e11f6 | 53 | volatile float b; // filtered 'output' of ReadAnalogInAndFilter |
Frostworks | 21:2b55d53e11f6 | 54 | |
Frostworks | 22:ad85b8acf8b5 | 55 | bool calibrate = false; |
Frostworks | 22:ad85b8acf8b5 | 56 | double threshold_Left = 0; |
Frostworks | 22:ad85b8acf8b5 | 57 | double threshold_Right= 0; |
tomlankhorst | 14:f83354387756 | 58 | Ticker sample_timer; |
Frostworks | 23:fdde3e4b9e69 | 59 | Ticker sample_timer2; |
tomlankhorst | 19:2bf824669684 | 60 | HIDScope scope( 2 ); |
tomlankhorst | 18:21d8e7a81cf5 | 61 | DigitalOut led(LED1); |
Frostworks | 21:2b55d53e11f6 | 62 | const double a1 = -1.6475; |
Frostworks | 21:2b55d53e11f6 | 63 | const double a2 = 0.7009; |
Frostworks | 21:2b55d53e11f6 | 64 | const double b0 = 0.8371; |
Frostworks | 21:2b55d53e11f6 | 65 | const double b1 = -1.6742; |
Frostworks | 21:2b55d53e11f6 | 66 | const double b2 = 0.8371; |
Frostworks | 21:2b55d53e11f6 | 67 | const double c1 = -1.9645; |
Frostworks | 21:2b55d53e11f6 | 68 | const double c2 = 0.9651; |
Frostworks | 21:2b55d53e11f6 | 69 | const double d0 = 0.0001551; |
Frostworks | 21:2b55d53e11f6 | 70 | const double d1 = 0.0003103; |
Frostworks | 21:2b55d53e11f6 | 71 | const double d2 = 0.0001551; |
Frostworks | 21:2b55d53e11f6 | 72 | double v1_high = 0; |
Frostworks | 21:2b55d53e11f6 | 73 | double v2_high = 0; |
Frostworks | 21:2b55d53e11f6 | 74 | double v1_low = 0; |
Frostworks | 21:2b55d53e11f6 | 75 | double v2_low = 0; |
Frostworks | 22:ad85b8acf8b5 | 76 | double highpassFilterLeft = 0; |
Frostworks | 22:ad85b8acf8b5 | 77 | double lowpassFilterLeft = 0; |
Frostworks | 22:ad85b8acf8b5 | 78 | double highpassFilterRight = 0; |
Frostworks | 22:ad85b8acf8b5 | 79 | double lowpassFilterRight = 0; |
vsluiter | 2:e314bb3b2d99 | 80 | |
Frostworks | 21:2b55d53e11f6 | 81 | double biquad1(double u, double&v1, double&v2, const double a1, const double a2, const double b0, |
Frostworks | 21:2b55d53e11f6 | 82 | const double b1, const double b2) |
Frostworks | 21:2b55d53e11f6 | 83 | { |
Frostworks | 21:2b55d53e11f6 | 84 | double v = u - a1*v1 - a2*v2; |
Frostworks | 21:2b55d53e11f6 | 85 | double y = b0*v + b1*v1 + b2*v2; |
Frostworks | 21:2b55d53e11f6 | 86 | v2 = v1; |
Frostworks | 21:2b55d53e11f6 | 87 | v1 = v; |
Frostworks | 21:2b55d53e11f6 | 88 | return y; |
Frostworks | 21:2b55d53e11f6 | 89 | } |
Frostworks | 22:ad85b8acf8b5 | 90 | /*double biquad2(double u, double&v1, double&v2, const double c1, const double c2, const double d0, |
Frostworks | 21:2b55d53e11f6 | 91 | const double d1, const double d2) |
Frostworks | 21:2b55d53e11f6 | 92 | { |
Frostworks | 21:2b55d53e11f6 | 93 | double v = u - c1*v1 - c2*v2; |
Frostworks | 21:2b55d53e11f6 | 94 | double y = d0*v + d1*v1 + d2*v2; |
Frostworks | 21:2b55d53e11f6 | 95 | v2 = v1; |
Frostworks | 21:2b55d53e11f6 | 96 | v1 = v; |
Frostworks | 21:2b55d53e11f6 | 97 | return y; |
Frostworks | 21:2b55d53e11f6 | 98 | } |
Frostworks | 22:ad85b8acf8b5 | 99 | */ |
tomlankhorst | 14:f83354387756 | 100 | /** Sample function |
tomlankhorst | 14:f83354387756 | 101 | * this function samples the emg and sends it to HIDScope |
tomlankhorst | 14:f83354387756 | 102 | **/ |
Frostworks | 21:2b55d53e11f6 | 103 | |
Frostworks | 22:ad85b8acf8b5 | 104 | void filterSampleLeft() |
Frostworks | 21:2b55d53e11f6 | 105 | { |
Frostworks | 22:ad85b8acf8b5 | 106 | highpassFilterLeft = fabs(biquad1(emg0.read(), v1_high, v2_high, a1, a2, b0, b1, b2)); |
Frostworks | 22:ad85b8acf8b5 | 107 | lowpassFilterLeft = biquad1(highpassFilterLeft, v1_low, v2_low, c1, c2, d0, d1, d2); |
Frostworks | 22:ad85b8acf8b5 | 108 | scope.set(0, lowpassFilterLeft ); |
Frostworks | 21:2b55d53e11f6 | 109 | scope.send(); |
Frostworks | 22:ad85b8acf8b5 | 110 | //pc.printf("%f \n \r ", lowpassFilter); |
Frostworks | 21:2b55d53e11f6 | 111 | } |
Frostworks | 22:ad85b8acf8b5 | 112 | void filterSampleRight() |
Frostworks | 22:ad85b8acf8b5 | 113 | { |
Frostworks | 22:ad85b8acf8b5 | 114 | highpassFilterRight = fabs(biquad1(emg1.read(), v1_high, v2_high, a1, a2, b0, b1, b2)); |
Frostworks | 22:ad85b8acf8b5 | 115 | lowpassFilterRight = biquad1(highpassFilterRight, v1_low, v2_low, c1, c2, d0, d1, d2); |
Frostworks | 22:ad85b8acf8b5 | 116 | scope.set(1, lowpassFilterRight ); |
Frostworks | 22:ad85b8acf8b5 | 117 | scope.send(); |
Frostworks | 22:ad85b8acf8b5 | 118 | //pc.printf("%f \n \r ", lowpassFilter); |
Frostworks | 22:ad85b8acf8b5 | 119 | } |
tomlankhorst | 14:f83354387756 | 120 | void sample() |
vsluiter | 2:e314bb3b2d99 | 121 | { |
tomlankhorst | 19:2bf824669684 | 122 | /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */ |
tomlankhorst | 19:2bf824669684 | 123 | scope.set(0, emg0.read() ); |
tomlankhorst | 19:2bf824669684 | 124 | scope.set(1, emg1.read() ); |
Frostworks | 21:2b55d53e11f6 | 125 | /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) |
tomlankhorst | 19:2bf824669684 | 126 | * Ensure that enough channels are available (HIDScope scope( 2 )) |
tomlankhorst | 20:97059009a491 | 127 | * Finally, send all channels to the PC at once */ |
Frostworks | 21:2b55d53e11f6 | 128 | |
Frostworks | 21:2b55d53e11f6 | 129 | x = emg0; // Capture data scope.set(0, x); // store data in first element of scope memory |
Frostworks | 21:2b55d53e11f6 | 130 | b = (x_prev + x)/2.0; // averaging filter |
Frostworks | 21:2b55d53e11f6 | 131 | x_prev = x; // Prepare for next round |
Frostworks | 21:2b55d53e11f6 | 132 | |
vsluiter | 11:ce72ec658a95 | 133 | scope.send(); |
tomlankhorst | 18:21d8e7a81cf5 | 134 | /* To indicate that the function is working, the LED is toggled */ |
tomlankhorst | 18:21d8e7a81cf5 | 135 | led = !led; |
Frostworks | 21:2b55d53e11f6 | 136 | pc.printf("%f, %f \n \r ", x, b); |
vsluiter | 2:e314bb3b2d99 | 137 | } |
Frostworks | 23:fdde3e4b9e69 | 138 | void GetDirections() |
Frostworks | 23:fdde3e4b9e69 | 139 | { |
Frostworks | 23:fdde3e4b9e69 | 140 | pc.baud(115200); |
Frostworks | 23:fdde3e4b9e69 | 141 | if ((rechts == 0) && (links == 0) && (turn == 0)) { |
Frostworks | 23:fdde3e4b9e69 | 142 | draailinks = 0; |
Frostworks | 23:fdde3e4b9e69 | 143 | draairechts = 0; |
Frostworks | 23:fdde3e4b9e69 | 144 | turn = 1; |
Frostworks | 23:fdde3e4b9e69 | 145 | pc.printf("begin de actie \n \r "); |
Frostworks | 23:fdde3e4b9e69 | 146 | wait(waiter); |
vsluiter | 0:32bb76391d89 | 147 | |
Frostworks | 23:fdde3e4b9e69 | 148 | } else if ((rechts == 0) && (links == 0) && (turn == 1)) { |
Frostworks | 23:fdde3e4b9e69 | 149 | draailinks = 0; |
Frostworks | 23:fdde3e4b9e69 | 150 | draairechts = 0; |
Frostworks | 23:fdde3e4b9e69 | 151 | turn = 0; |
Frostworks | 23:fdde3e4b9e69 | 152 | pc.printf("breek de actie af \n \r "); |
Frostworks | 23:fdde3e4b9e69 | 153 | wait(waiter); |
Frostworks | 23:fdde3e4b9e69 | 154 | } else if ((rechts == 1) && (links == 1)&& (turn == 0)) { |
Frostworks | 23:fdde3e4b9e69 | 155 | |
Frostworks | 23:fdde3e4b9e69 | 156 | } else if ((rechts == 1) && (draailinks == 0)&& (turn == 0)) { |
Frostworks | 23:fdde3e4b9e69 | 157 | /* if the right button is pressed and the motor isn't rotating to the left, |
Frostworks | 23:fdde3e4b9e69 | 158 | then start rotating to the right etc*/ |
Frostworks | 23:fdde3e4b9e69 | 159 | draairechts = !draairechts; |
Frostworks | 23:fdde3e4b9e69 | 160 | pc.printf("draai naar rechts \n \r "); |
Frostworks | 23:fdde3e4b9e69 | 161 | wait(waiter); |
Frostworks | 23:fdde3e4b9e69 | 162 | } else if ((rechts == 1) && (draailinks == 1)&& (turn == 0)) { |
Frostworks | 23:fdde3e4b9e69 | 163 | draailinks = 0; |
Frostworks | 23:fdde3e4b9e69 | 164 | draairechts = !draairechts; |
Frostworks | 23:fdde3e4b9e69 | 165 | pc.printf("draai naar rechts na links \n \r "); |
Frostworks | 23:fdde3e4b9e69 | 166 | wait(waiter); |
Frostworks | 23:fdde3e4b9e69 | 167 | } else if ((links == 1) && (draairechts == 0)&& (turn == 0)) { |
Frostworks | 23:fdde3e4b9e69 | 168 | draailinks = !draailinks; |
Frostworks | 23:fdde3e4b9e69 | 169 | pc.printf("draai naar links \n \r "); |
Frostworks | 23:fdde3e4b9e69 | 170 | wait(waiter); |
Frostworks | 23:fdde3e4b9e69 | 171 | } else if ((links == 1) && (draairechts == 1) && (turn == 0)) { |
Frostworks | 23:fdde3e4b9e69 | 172 | draairechts = 0; |
Frostworks | 23:fdde3e4b9e69 | 173 | draailinks = !draailinks; |
Frostworks | 23:fdde3e4b9e69 | 174 | pc.printf("draai naar links na rechts \n \r "); |
Frostworks | 23:fdde3e4b9e69 | 175 | wait(waiter); |
Frostworks | 23:fdde3e4b9e69 | 176 | } |
Frostworks | 23:fdde3e4b9e69 | 177 | wait(2*waiter); |
Frostworks | 23:fdde3e4b9e69 | 178 | } |
Frostworks | 23:fdde3e4b9e69 | 179 | |
Frostworks | 23:fdde3e4b9e69 | 180 | float GetPositionM2() |
Frostworks | 23:fdde3e4b9e69 | 181 | { |
Frostworks | 23:fdde3e4b9e69 | 182 | float pulses2 = motor2.getPulses(); |
Frostworks | 23:fdde3e4b9e69 | 183 | float degrees2 = (pulses2/Puls_degree); |
Frostworks | 23:fdde3e4b9e69 | 184 | float radians2 = (degrees2/360)*2*pi; |
Frostworks | 23:fdde3e4b9e69 | 185 | float translation = ((radians2/overbrenging)*32.25); |
Frostworks | 23:fdde3e4b9e69 | 186 | |
Frostworks | 23:fdde3e4b9e69 | 187 | return translation; |
Frostworks | 23:fdde3e4b9e69 | 188 | } |
Frostworks | 23:fdde3e4b9e69 | 189 | float GetRotationM3() |
Frostworks | 23:fdde3e4b9e69 | 190 | { |
Frostworks | 23:fdde3e4b9e69 | 191 | float pulses3 = motor3.getPulses(); |
Frostworks | 23:fdde3e4b9e69 | 192 | float degrees3 = (pulses3/Puls_degree); |
Frostworks | 23:fdde3e4b9e69 | 193 | float radians3 = (degrees3/360)*2*pi; |
Frostworks | 23:fdde3e4b9e69 | 194 | |
Frostworks | 23:fdde3e4b9e69 | 195 | return degrees3; |
Frostworks | 23:fdde3e4b9e69 | 196 | } |
Frostworks | 23:fdde3e4b9e69 | 197 | void GoBack() |
Frostworks | 23:fdde3e4b9e69 | 198 | { |
Frostworks | 23:fdde3e4b9e69 | 199 | while (GetPositionM2() > 0) { |
Frostworks | 23:fdde3e4b9e69 | 200 | M3_Speed = 0; |
Frostworks | 23:fdde3e4b9e69 | 201 | M2_Speed = 1; |
Frostworks | 23:fdde3e4b9e69 | 202 | M2_Rotate = 0; |
Frostworks | 23:fdde3e4b9e69 | 203 | pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2()); |
Frostworks | 23:fdde3e4b9e69 | 204 | led_r = 0; |
Frostworks | 23:fdde3e4b9e69 | 205 | } |
Frostworks | 23:fdde3e4b9e69 | 206 | M2_Speed = 0; |
Frostworks | 23:fdde3e4b9e69 | 207 | |
Frostworks | 23:fdde3e4b9e69 | 208 | |
Frostworks | 23:fdde3e4b9e69 | 209 | while (GetRotationM3() > 0) { |
Frostworks | 23:fdde3e4b9e69 | 210 | M3_Rotate = 1; |
Frostworks | 23:fdde3e4b9e69 | 211 | M3_Speed = 0.2; |
Frostworks | 23:fdde3e4b9e69 | 212 | led_r = 1; |
Frostworks | 23:fdde3e4b9e69 | 213 | led_b = 0; |
Frostworks | 23:fdde3e4b9e69 | 214 | pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2()); |
Frostworks | 23:fdde3e4b9e69 | 215 | |
Frostworks | 23:fdde3e4b9e69 | 216 | } |
Frostworks | 23:fdde3e4b9e69 | 217 | M3_Speed = 0; |
Frostworks | 23:fdde3e4b9e69 | 218 | |
Frostworks | 23:fdde3e4b9e69 | 219 | turn = 0; |
Frostworks | 23:fdde3e4b9e69 | 220 | |
Frostworks | 23:fdde3e4b9e69 | 221 | |
Frostworks | 23:fdde3e4b9e69 | 222 | } |
Frostworks | 23:fdde3e4b9e69 | 223 | void Burgerflip() |
Frostworks | 23:fdde3e4b9e69 | 224 | { |
Frostworks | 23:fdde3e4b9e69 | 225 | if (GetPositionM2() > afstand) { |
Frostworks | 23:fdde3e4b9e69 | 226 | M3_Speed = 0.2; |
Frostworks | 23:fdde3e4b9e69 | 227 | M3_Rotate = 0; |
Frostworks | 23:fdde3e4b9e69 | 228 | M2_Speed = 0; |
Frostworks | 23:fdde3e4b9e69 | 229 | } else if (GetPositionM2() < afstand) { |
Frostworks | 23:fdde3e4b9e69 | 230 | M2_Speed = 1; |
Frostworks | 23:fdde3e4b9e69 | 231 | M2_Rotate = 1; |
Frostworks | 23:fdde3e4b9e69 | 232 | |
Frostworks | 23:fdde3e4b9e69 | 233 | } |
Frostworks | 23:fdde3e4b9e69 | 234 | if (GetRotationM3() > 150) { |
Frostworks | 23:fdde3e4b9e69 | 235 | GoBack(); |
Frostworks | 23:fdde3e4b9e69 | 236 | } |
Frostworks | 23:fdde3e4b9e69 | 237 | } |
vsluiter | 0:32bb76391d89 | 238 | int main() |
Frostworks | 21:2b55d53e11f6 | 239 | { |
Frostworks | 23:fdde3e4b9e69 | 240 | led_g = 1; |
Frostworks | 23:fdde3e4b9e69 | 241 | led_b = 1; |
Frostworks | 23:fdde3e4b9e69 | 242 | led_r = 1; |
Frostworks | 23:fdde3e4b9e69 | 243 | |
tomlankhorst | 14:f83354387756 | 244 | /**Attach the 'sample' function to the timer 'sample_timer'. |
tomlankhorst | 19:2bf824669684 | 245 | * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz |
vsluiter | 4:8b298dfada81 | 246 | */ |
Frostworks | 22:ad85b8acf8b5 | 247 | //sample_timer.attach(&sample, 0.001953125); |
Frostworks | 23:fdde3e4b9e69 | 248 | sample_timer2.attach(&filterSampleLeft, 0.001953125); //512 Hz |
Frostworks | 22:ad85b8acf8b5 | 249 | sample_timer.attach(&filterSampleRight, 0.001953125); |
Frostworks | 21:2b55d53e11f6 | 250 | pc.baud(115200); |
Frostworks | 22:ad85b8acf8b5 | 251 | pc.printf("please push the button to calibrate \n \r"); |
Frostworks | 22:ad85b8acf8b5 | 252 | while (1) { |
Frostworks | 22:ad85b8acf8b5 | 253 | if (buttonCalibrate == 0) { |
Frostworks | 22:ad85b8acf8b5 | 254 | calibrate = true; |
Frostworks | 22:ad85b8acf8b5 | 255 | threshold_Left = lowpassFilterLeft*0.7; |
Frostworks | 22:ad85b8acf8b5 | 256 | threshold_Right = lowpassFilterRight*0.7; |
Frostworks | 23:fdde3e4b9e69 | 257 | |
Frostworks | 21:2b55d53e11f6 | 258 | } |
Frostworks | 22:ad85b8acf8b5 | 259 | if (calibrate == true) { |
Frostworks | 22:ad85b8acf8b5 | 260 | pc.printf("calibration complete, left = %f, right = %f \n \r", threshold_Left, threshold_Right); |
Frostworks | 23:fdde3e4b9e69 | 261 | GetDirections(); |
Frostworks | 23:fdde3e4b9e69 | 262 | if (draairechts == true) { |
Frostworks | 23:fdde3e4b9e69 | 263 | M1_Speed = 0.2; |
Frostworks | 23:fdde3e4b9e69 | 264 | M1_Rotate = 0; |
Frostworks | 23:fdde3e4b9e69 | 265 | } else if (draailinks == true) { |
Frostworks | 23:fdde3e4b9e69 | 266 | M1_Speed = 0.2; |
Frostworks | 23:fdde3e4b9e69 | 267 | M1_Rotate = 1; |
Frostworks | 23:fdde3e4b9e69 | 268 | } else if (turn == 1) { |
Frostworks | 23:fdde3e4b9e69 | 269 | /*M2_Speed = 0.5; |
Frostworks | 23:fdde3e4b9e69 | 270 | M2_Rotate = 1; |
Frostworks | 23:fdde3e4b9e69 | 271 | M3_Speed = 0.5; |
Frostworks | 23:fdde3e4b9e69 | 272 | M3_Rotate = 1;*/ |
Frostworks | 23:fdde3e4b9e69 | 273 | Burgerflip(); |
Frostworks | 23:fdde3e4b9e69 | 274 | } else if (turn == 0) { |
Frostworks | 23:fdde3e4b9e69 | 275 | M2_Speed = 0; |
Frostworks | 23:fdde3e4b9e69 | 276 | M3_Speed = 0; |
Frostworks | 23:fdde3e4b9e69 | 277 | } |
Frostworks | 23:fdde3e4b9e69 | 278 | if ((draailinks == false) && (draairechts == false)) { |
Frostworks | 23:fdde3e4b9e69 | 279 | M1_Speed = 0; |
Frostworks | 23:fdde3e4b9e69 | 280 | } |
Frostworks | 23:fdde3e4b9e69 | 281 | pc.printf("rotation %f translation %f \n \r ", GetRotationM3(), GetPositionM2()); |
Frostworks | 23:fdde3e4b9e69 | 282 | /* pulses = 8400 */ |
Frostworks | 22:ad85b8acf8b5 | 283 | /*empty loop, sample() is executed periodically*/ |
Frostworks | 22:ad85b8acf8b5 | 284 | } |
Frostworks | 22:ad85b8acf8b5 | 285 | } |
vsluiter | 0:32bb76391d89 | 286 | } |