Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: Encoder HIDScope MODSERIAL- mbed-dsp mbed
Fork of
PROJECT_FINAL_VERSLAG
by 
Aukie Hooglugt
Diff: PROJECT_main.cpp
- Revision:
- 16:a0a39512bd47
- Parent:
- 11:b517e73a98ab
- Child:
- 17:7641d7934b91
--- a/PROJECT_main.cpp Mon Nov 03 22:16:30 2014 +0000
+++ b/PROJECT_main.cpp Tue Nov 04 08:05:21 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;
@@ -535,14 +533,6 @@
while(1) { // loop voor het goed plaatsen van motor2 (batje hoek)
while(!looptimerflag);
looptimerflag = false; //clear flag
- setpoint1=0;
- setpoint2=0;
- integral1 = integral = 0;
- previouserror1 = previouserror = 0;
-
-
-
-// FORMAT_CODE_START
scope.set(0, motor2.getPosition()*omrekenfactor2);
scope.set(1, setpoint2);
@@ -597,6 +587,7 @@
break;
}
if(fabs(motor1.getPosition()*omrekenfactor1)>2.36) {
+ setpoint1 = 2.36;
state = 4;
}
break;
@@ -635,7 +626,8 @@
derivative1 = (controlerror1 - previouserror1)/TSAMP;
pwm1 = Kp1*controlerror1 + Ki1*integral1 + Kd1*derivative1;
previouserror1 = controlerror1;
-
+ scope.set(5, pwm1);
+
keep_in_range(&pwm1, -1,1);
pwm_motor1.write(fabs(pwm1));
if(pwm1 > 0) {