Version for EMG Threshold finding
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of prog_BioRobotics_Group9_StampRobot by
Diff: main.cpp
- Revision:
- 38:e58bab07275e
- Parent:
- 36:72f0913c5460
- Child:
- 39:cc7754330c26
diff -r 72f0913c5460 -r e58bab07275e main.cpp --- a/main.cpp Thu Nov 03 09:41:09 2016 +0000 +++ b/main.cpp Thu Nov 03 10:43:06 2016 +0000 @@ -105,15 +105,16 @@ 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 MotorMaxSpeed = 0.5; //define a maximum PWM speed for the motor float t_sample = 0.1; //seconds const float maxStampDistance = 2.0; float q1_refOutNew = 0; -float q1_refOutMin = 0; //WRONG values -float q1_refOutMax = 0.4722*PI; //WRONG values +float q1_refOutMin = 0; //Min angle in radians +float q1_refOutMax = 1.47; //Max angle in radians float q2_refOutNew = 0; -float q2_refOutMin = 0.2611*PI; //WRONG values -float q2_refOutMax = 0.6667*PI; //WRONG values +float q2_refOutMin = 0.81; //Min angle in radians +float q2_refOutMax = 2.17; //Max angle in radians float TotalError1= 0; float TotalError2= 0; float TotalErrorMin= 0; @@ -225,6 +226,10 @@ ReferencePosition_y = y_stampup; pc.printf("Target too far! \r\n"); } + else if {PointVectorArm2 < minStampDistance){ + ReferencePosition_x = ReferencePosition_x + 0.1; + ReferencePosition_y = y_stampup; + pc.printf("Target too far! \r\n"); else { ReferencePosition_x = ReferencePosition_xnew; ReferencePosition_y = ReferencePosition_ynew;