Revision 1:7066a6113fbe, committed 2014-10-13

Comitter:

JKleinRot

Date:

Mon Oct 13 07:10:34 2014 +0000

Parent:

0:c37e4d7f1f56

Child:

2:fbda25b453b3

Commit message:

eerste opzet met comments

Changed in this revision

--- a/main.cpp	Fri Oct 10 13:20:35 2014 +0000
+++ b/main.cpp	Mon Oct 13 07:10:34 2014 +0000
@@ -4,7 +4,7 @@
 
 #define BLABLA      waarde      //Constanten definiëren en een waarde toekennen
 
-//Pinverdeling
+//Pinverdeling en naamgeving variabelen
 Encoder motor_arm1(
 Encoder motor_arm2(             //
 
@@ -35,27 +35,27 @@
    //ticker maken die iedere zoveel seconden de EMG data inlaadt
    sample_EMG.attach(setsample_EMGflag,0.005);
    
-   while (1){
+   while (1){                   //Oneindige while loop
        if (rust = false && kalibratie_positie = false && kalibratie_EMG = false){
-            lcd_r1 = " BMT M9   GR. 4 ";
-            lcd_r2 = "Hoi! Ik ben PIPO";
-            wait(2);
+            lcd_r1 = " BMT M9   GR. 4 ";    //Tekst in LCD scherm
+            lcd_r2 = "Hoi! Ik ben PIPO";    //Tekst in LCD scherm  
+            wait(2);                        //2 seconden wachten
             rust = true
        }
          
     
        if (rust = true && kalibratie_positie = false && kalibratie_EMG = false){
-            wait(1);
+            wait(1);                        //1 seconde wachten
         
-            pwm_motor_arm1 = 0.02036
-            dir_motor_arm1 = // 1 of 0
+            pwm_motor_arm1 = 0.02036        //Dutycycle/100
+            dir_motor_arm1 = // 1 of 0      //Richting motor
         
-            while(motor_arm1 < 363){
+            while(motor_arm1 < 363){        //Zolang aantal encoderpulsen < 363 --> PWM motor1 blijft gelijk
                 pwm_motor_arm1 = 0.02036
             }
         
-            pwm_motor_arm1 = 0
-            motor_arm1 = 0
+            pwm_motor_arm1 = 0              //Na while loop PWM motor1 op nul
+            motor_arm1 = 0                  //Encoderpulsen op nul zetten
         
             pwm_motor_arm2 = 0.02398
             dir_motor_arm2 = // 1 of 0
@@ -67,16 +67,16 @@
             pwm_motor_arm2 = 0
             motor_arm2 = 0
         
-            lcd_r1 = "  Beginpositie  "
-            lcd_r2 = "    ingesteld   "
-            wait(2);
+            lcd_r1 = "  Beginpositie  "     //Tekst in LCD scherm
+            lcd_r2 = "    ingesteld   "     //Tekst in LCD scherm   
+            wait(2);                        //2 seconden wachten
             kalibratie_positie = true
        }
     
        if (rust = true && kalibratie_positie = true && kalibratie_EMG = false){
-            wait(1);
+            wait(1);                        //1 seconde wachten
         
-            ybk = emg_bi.read();
+            ybk = emg_bi.read();            
             ytk = emg_tri.read();
         
             //detrend