Diff: main.cpp

Revision:

43:2b2e0bff0b39

Parent:

41:68b170829965

Child:

44:43f200e04903

--- a/main.cpp	Thu Nov 03 18:56:09 2016 +0000
+++ b/main.cpp	Sat Nov 05 13:54:09 2016 +0000
@@ -73,9 +73,9 @@
 //set initial conditions
 float biceps_l = 0;
 float biceps_r = 0;
-float ReferencePosition_x = 0.4;        //L2;
+float ReferencePosition_x = 0.35;        //L2;
 float ReferencePosition_y = L1 + TowerHeight - StampHeight;
-float ReferencePosition_xnew = 0.4;     //L2;
+float ReferencePosition_xnew = 0.35;     //L2;
 float ReferencePosition_ynew = L1 + TowerHeight - StampHeight;
 float Position_x = 0.0;
 float Position_y = 0.0;
@@ -109,7 +109,7 @@
 
 //set constant or variable values (VALUES HAVE TO BE EDITED)
 int T=0;        //EMG 'switch' variable
-double threshold_l=0.1;   //left arm EMG threshold
+double threshold_l=0.09;   //left arm EMG threshold
 double threshold_r = 0.08; //right arm EMG threshold
 float EMGgain = 1.0;
 
@@ -119,9 +119,9 @@
 float MotorMaxSpeed = 0.1;  //define a maximum PWM speed for the motor
 float t_sample = 0.01; //seconds
 const float maxStampDistance = 0.7;       //0.66;
-const float minStampDistance = 0.35;
+const float minStampDistance = 0.3;
 float Kp = 4.0;//potMeter2.read();
-float Ki = 0.02;  //0.01*Kp; //potMeter2.read();
+float Ki = 0.04;  //0.01*Kp; //potMeter2.read();
 float Kd = 0.02;     //0.1;(unstable!) //0.05; //0.02;        //0.04*Kp; //potMeter2.read();
 float N = 25; //N=1/Tf, Higher N is faster derivative action but more sensitive to noise.