Version for EMG Threshold finding
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of prog_BioRobotics_Group9_StampRobot by
Diff: main.cpp
- Revision:
- 30:676ecd59467a
- Parent:
- 29:caf3dd699617
- Child:
- 31:880ebd2e8145
- Child:
- 32:3b00eafcf168
diff -r caf3dd699617 -r 676ecd59467a main.cpp --- a/main.cpp Fri Oct 28 09:17:12 2016 +0000 +++ b/main.cpp Fri Oct 28 09:31:08 2016 +0000 @@ -98,6 +98,7 @@ float EMGgain = 1.0; float dy_stampdown = 2.0; //0.05; //5 cm movement downward to stamp float MotorGain = 8.4; // rad/s for PWM, is max motor speed (motor value of 1) +float MotorSpeedGain = 5.0; //to give the motor higher speeds float t_sample = 0.01; //seconds const float maxStampDistance = 1.5; @@ -327,8 +328,11 @@ motorValue2Out = DerTotalError2/MotorGain; */ - motorValue1Out = TotalError1/MotorGain; - motorValue2Out = TotalError2/MotorGain; + float motorValue1Small = TotalError1/MotorGain; + float motorValue2Small = TotalError2/MotorGain; + + motorValue1Out = MotorSpeedGain*motorValue1Small; + motorValue2Out = MotorSpeedGain*motorValue2Small; TotalError1_prev = TotalError1; TotalError2_prev = TotalError2;