EMG added to main IK program. No errors, not yet tested

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of prog_forwardkin_feedback_copy3 by Gerhard Berman

History

Sample Frequency changed to 500 Hz, right arm EMG is correct, left arm EMG is too small default tip

2016-11-02, by GerhardBerman [Wed, 02 Nov 2016 16:12:00 +0000] rev 37

Sample Frequency changed to 500 Hz, right arm EMG is correct, left arm EMG is too small


EMG added to main IK program, no errors, not yet tested

2016-11-02, by GerhardBerman [Wed, 02 Nov 2016 13:51:25 +0000] rev 36

EMG added to main IK program, no errors, not yet tested


PID Filter implemented. Motors working, but initial TotalError is not zero -> spontaneous iniitial action. PID parameters are not yet perfect.

2016-11-01, by GerhardBerman [Tue, 01 Nov 2016 15:47:40 +0000] rev 35

PID Filter implemented. Motors working, but initial TotalError is not zero -> spontaneous iniitial action. PID parameters are not yet perfect.


Motors working slowly, moving slowly to correct reference angles!

2016-11-01, by GerhardBerman [Tue, 01 Nov 2016 13:45:31 +0000] rev 34

Motors working slowly, moving slowly to correct reference angles!


Motors working well, no oscillation! The resetting of vertical position is not working now (in green)

2016-11-01, by GerhardBerman [Tue, 01 Nov 2016 12:35:16 +0000] rev 33

Motors working well, no oscillation! The resetting of vertical position is not working now (in green)


ErrorSwitch removed again, not tested

2016-11-01, by GerhardBerman [Tue, 01 Nov 2016 10:13:28 +0000] rev 32

ErrorSwitch removed again, not tested


ErrorSwitch loop is introduced, not yet tested

2016-10-28, by GerhardBerman [Fri, 28 Oct 2016 14:21:46 +0000] rev 31

ErrorSwitch loop is introduced, not yet tested


Added MotorSpeedGain to make motors faster. Angles are not ending up at reference angles

2016-10-28, by GerhardBerman [Fri, 28 Oct 2016 09:31:08 +0000] rev 30

Added MotorSpeedGain to make motors faster. Angles are not ending up at reference angles


Motors are moving, but too slow (maybe due to TotalError divided by MotorGain)

2016-10-28, by GerhardBerman [Fri, 28 Oct 2016 09:17:12 +0000] rev 29

Motors are moving, but too slow (maybe due to TotalError divided by MotorGain)


Compensated for StampHeight

2016-10-27, by GerhardBerman [Thu, 27 Oct 2016 10:35:53 +0000] rev 28

Compensated for StampHeight