Diff: PROJECT_main.cpp

Revision:

14:c2389571f8d6

Parent:

12:b09b7fe5550c

Child:

15:031e29cb39e7

--- a/PROJECT_main.cpp	Mon Nov 03 22:47:59 2014 +0000
+++ b/PROJECT_main.cpp	Mon Nov 03 23:29:06 2014 +0000
@@ -13,7 +13,7 @@
 
 //Define objects
 
-HIDScope scope(5);
+HIDScope scope(6);
 
 AnalogIn    emg0(PTB1);         //Analog input biceps
 AnalogIn    emg1(PTB2);         //Analog input triceps
@@ -524,8 +524,6 @@
 
     /* Vanaf hier komt de aansturing van de motor */
 
-
-// FORMAT_CODE_START
     setpoint1=0;
     setpoint2=0;
     integral1 = integral = 0;
@@ -535,8 +533,6 @@
     while(1) {      // loop voor het goed plaatsen van motor2 (batje hoek)
         while(!looptimerflag);
         looptimerflag = false; //clear flag
-      
-// FORMAT_CODE_START
 
             scope.set(0, motor2.getPosition()*omrekenfactor2);
             scope.set(1, setpoint2);
@@ -629,6 +625,8 @@
             integral1 = integral1 + (controlerror1*TSAMP);
             derivative1 = (controlerror1 - previouserror1)/TSAMP;
             pwm1 = Kp1*controlerror1 + Ki1*integral1 + Kd1*derivative1;
+            pc.printf("%d_%f\n\r",state,pwm1);
+            scope.set(5, pwm1);
             previouserror1 = controlerror1;
 
             keep_in_range(&pwm1, -1,1);