Diff: main.cpp

Revision:

18:00379f0ecc7f

Parent:

17:0acc8d4b142c

Child:

19:6567ed67d6ee

--- a/main.cpp	Wed Nov 01 12:34:47 2017 +0000
+++ b/main.cpp	Wed Nov 01 12:59:02 2017 +0000
@@ -3,8 +3,9 @@
 //#include "encoder.h"
 #include "QEI.h"
 #include "BiQuad.h"
+#include "MODSERIAL.h"
  
-Serial          pc(USBTX, USBRX);
+MODSERIAL       pc(USBTX, USBRX);
  
 //Defining all in- and outputs
 //EMG input
@@ -361,9 +362,9 @@
     
     int error_o = reference_o - position_o;
     
-    //pc.printf("Position_o = %i          reference_o=%i              Error_o=%i\n\r" ,position_o,reference_o,error_o);
+    pc.printf("Position_o = %i          reference_o=%i              Error_o=%i\n\r" ,position_o,reference_o,error_o);
     
-    if (-100<error_o && error_o<100){
+    if (-10<error_o && error_o<10){
         motorValue1 = 0;
         }
     else {
@@ -392,7 +393,7 @@
     
     //pc.printf("Position_b = %i         reference_b=%i         Error_b=%i      " ,position_b,reference_b,error_b);
         
-    if (-100<error_b && error_b<100){
+    if (-10<error_b && error_b<10){
         motorValue2 = 0;
         }
     else {
@@ -422,7 +423,7 @@
     //pc.printf("Position_r = %i          reference_r=%i              Error_r=%i\n\r" ,position_r,reference_r,error_r);
     
     
-    if (-100<error_r && error_r<100){
+    if (-10<error_r && error_r<10){
         motorValue3 = 0;
         
         }
@@ -575,12 +576,12 @@
     getbqChain();
     threshold_timerR.attach(&Threshold_samplingBR, 0.002);
     threshold_timerL.attach(&Threshold_samplingBL, 0.002);
+    setcurrentposition();
     while(true){
         sample_timer.attach(&EMG_sample, 0.002);
         wait(2.5f);
         tellerX();
         tellerY();
-        setcurrentposition();
         calculator();
         controlmotor1.attach(&MotorController1, 0.01);
         controlmotor2.attach(&MotorController2, 0.01);