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final version
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of Project_script_union_final by
Diff: main.cpp
- Revision:
- 34:b8b18ba0c336
- Parent:
- 33:976be2825a23
- Child:
- 35:63c890ac71ff
--- a/main.cpp Fri Nov 02 11:57:51 2018 +0000 +++ b/main.cpp Mon Nov 05 15:19:42 2018 +0000 @@ -350,16 +350,10 @@ } void engine_control1() //Engine 1 is translational engine, connected with left side pins { - //pc.printf("ik doe het, engine control 1\n\r"); encoder_radians1 = (double)encoder1.getPulses()*(2.0*PI)/8400.0; - //pc.printf("encoder1 %f \n\r", (float)encoder1.getPulses()); - //pc.printf("encoder_radians1 %f \n\r",(float) encoder_radians1); err1 = q1_motor - encoder_radians1; - //pc.printf("err1 = %f\n\r",err1); PID_control1(); //PID controller function call - - //pc.printf("u1 = %f\n\r",u1); - + //if(encoder1.getPulses()<12000 && encoder1.getPulses()>-1) //limits translation in counts, eerst 12600 //{ pwmpin1 = fabs(u1); //u_total moet nog geschaald worden om in de motor gevoerd te worden!!! @@ -433,11 +427,7 @@ //------------------ Inversed Kinematics --------------------------------// void inverse_kinematics() -{ - //pc.printf("v_x is %f en v_y is %f\n\r",v_x, v_y); - - //Lq1 = q1ref*r_trans; - //Cq2 = q2ref/5.0; +{ q1_dot = (v_x*cos(q2ref) + v_y*sin(q2ref))/cos(q2ref); //RKI systeem q2_dot = v_y/(L3*cos(q2ref)); // @@ -539,7 +529,6 @@ movag_tick.attach(&MovAg,T); func_tick.attach(&v_des_calculate_qref,T); //v_des determined every T print_tick.attach(&printFunction,T2); - // HIDScope_tick.attach(&HIDScope_sample,T); //EMG signals raw + filtered to HIDScope every T sec. button1.rise(switch_to_calibrate); //Switch state of calibration (which muscle) //wait(0.2f); //Wait to avoid bouncing of button