Het complete motorscript met alle gewenste functies
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of Motor_EMG_Definitief by
Diff: main.cpp
- Revision:
- 9:350a82a7745a
- Parent:
- 8:86a13efe98c8
- Child:
- 10:5c5f2ea11045
--- a/main.cpp Thu Oct 29 12:12:28 2015 +0000 +++ b/main.cpp Thu Oct 29 15:21:45 2015 +0000 @@ -48,7 +48,7 @@ double position2 = 0, position1 = 0; double m2_ref = 0, m1_ref = 0; int count = 0; - double Grens2 = 70, Grens1 = 70; + double Grens2 = 60, Grens1 = 60; double Stapgrootte = 1; // Declaring variables @@ -354,9 +354,9 @@ { m1_ref = m1_ref + Stapgrootte; - if (m1_ref < -1*m2_ref + 80 ) + if (m1_ref > m2_ref + 35 ) { - m1_ref = -1*m2_ref + 80 ; + m1_ref = m2_ref + 35 ; } wait(0.05); } @@ -364,9 +364,9 @@ { m1_ref = m1_ref - Stapgrootte; - if (m1_ref > Grens1 ) + if (m1_ref < -1*Grens1 ) { - m1_ref = Grens1; + m1_ref = -1*Grens1; } wait(0.05); } @@ -385,9 +385,9 @@ { m1_ref = m1_ref - Stapgrootte; - if (m1_ref < -1*m2_ref + 80 ) + if (m1_ref < m2_ref - 35 ) { - m1_ref = -1*m2_ref + 80 ; + m1_ref = m2_ref - 35 ; } wait(0.05); }