Diff: main.cpp

Revision:

7:111e13da9bc0

Parent:

6:d1d747050fcc

Child:

8:86a13efe98c8

--- a/main.cpp	Tue Oct 27 11:47:32 2015 +0000
+++ b/main.cpp	Wed Oct 28 11:02:42 2015 +0000
@@ -261,7 +261,7 @@
         wait(0.2);    
         LedG.write(0);
         wait(2);
-        Threshold1 = 0.8*EMG_left_MAF;
+        Threshold1 = 0.5*EMG_left_MAF;
         Threshold2 = 0.2*EMG_left_MAF;
         LedG.write(1);
         LedR.write(0);
@@ -281,7 +281,7 @@
         wait(0.2);    
         LedB.write(0);
         wait(2);
-        Threshold3 = 0.8*EMG_right_MAF;
+        Threshold3 = 0.5*EMG_right_MAF;
         Threshold4 = 0.2*EMG_right_MAF;
         LedB.write(1);
         pc.printf("T1 = %f, T2 = %f, T3 = %f, T4 = %f\n", Threshold1, Threshold2, Threshold3, Threshold4); 
@@ -349,17 +349,39 @@
         {
                 LedG = LedB = 1;
                 LedR = 0;
-                if ((EMG_right_MAF <= Threshold3) && (EMG_left_MAF >= Threshold1)) // if(c == 't') //
+                //Linker grenzen
+                if ((EMG_right_MAF <= Threshold3) && (EMG_left_MAF >= Threshold1) && (m2_ref > 0)) // if(c == 't') //
                 {
                     m1_ref = m1_ref + Stapgrootte;
                     
-                    if (m1_ref > Grens1)
+                    if (m1_ref > -1*m2_ref + 80 )
                     {
-                        m1_ref = Grens1;
+                        m1_ref = -1*m2_ref + 80;
                     }
                     wait(0.05);
                 }
-                if ((EMG_left_MAF < Threshold1) && (EMG_right_MAF > Threshold3)) //if(c == 'g') //
+                if ((EMG_left_MAF < Threshold1) && (EMG_right_MAF > Threshold3) && (m2_ref > 0)) //if(c == 'g') //
+                {
+                    m1_ref = m1_ref - Stapgrootte;
+                  
+                    if (m1_ref < -1*Grens1)
+                    {
+                        m1_ref = -1*Grens1;
+                    }
+                    wait(0.05);
+                }
+                //Rechter grenzen
+                if ((EMG_right_MAF <= Threshold3) && (EMG_left_MAF >= Threshold1) && (m2_ref <= 0)) // if(c == 't') //
+                {
+                    m1_ref = m1_ref + Stapgrootte;
+                    
+                    if (m1_ref > -1*m2_ref - 80 )
+                    {
+                        m1_ref = -1*m2_ref - 80;
+                    }
+                    wait(0.05);
+                }
+                if ((EMG_left_MAF < Threshold1) && (EMG_right_MAF > Threshold3) && (m2_ref <= 0)) //if(c == 'g') //
                 {
                     m1_ref = m1_ref - Stapgrootte;