Diff: PROJECT_main.cpp

Revision:

15:031e29cb39e7

Parent:

14:c2389571f8d6

--- a/PROJECT_main.cpp	Mon Nov 03 23:29:06 2014 +0000
+++ b/PROJECT_main.cpp	Mon Nov 03 23:39:35 2014 +0000
@@ -13,7 +13,7 @@
 
 //Define objects
 
-HIDScope scope(6);
+//HIDScope scope(6);
 
 AnalogIn    emg0(PTB1);         //Analog input biceps
 AnalogIn    emg1(PTB2);         //Analog input triceps
@@ -140,7 +140,7 @@
 
 void hidscope(void){
   
-    scope.send();    
+ //   scope.send();    
 }
 
 void keep_in_range(float * in, float min, float max)
@@ -534,11 +534,11 @@
         while(!looptimerflag);
         looptimerflag = false; //clear flag
 
-            scope.set(0, motor2.getPosition()*omrekenfactor2);
-            scope.set(1, setpoint2);
-            scope.set(2, motor1.getPosition()*omrekenfactor1);
-            scope.set(3, setpoint1);
-            scope.set(4, state);
+           // scope.set(0, motor2.getPosition()*omrekenfactor2);
+           // scope.set(1, setpoint2);
+           // scope.set(2, motor1.getPosition()*omrekenfactor1);
+           // scope.set(3, setpoint1);
+           // scope.set(4, state);
 
             switch(state) {
                 case 1: {
@@ -577,7 +577,7 @@
                 case 3: {
                     switch (force) {
                         case 1:
-                            setpoint1 += 2.5*TSAMP; //6.8*TSAMP;
+                            setpoint1 += 7*TSAMP; //6.8*TSAMP;
                             break;
                         case 2:
                             setpoint1 += 0.4*TSAMP; //7.4*TSAMP;
@@ -626,7 +626,7 @@
             derivative1 = (controlerror1 - previouserror1)/TSAMP;
             pwm1 = Kp1*controlerror1 + Ki1*integral1 + Kd1*derivative1;
             pc.printf("%d_%f\n\r",state,pwm1);
-            scope.set(5, pwm1);
+            //scope.set(5, pwm1);
             previouserror1 = controlerror1;
 
             keep_in_range(&pwm1, -1,1);