Remco Dasselaar
/
TotalControlEmg2
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Dependencies: HIDScope MODSERIAL QEI TextLCD mbed
Fork of
TotalControlEmg2
by 
Remco Dasselaar
Revision 38:08c8fd55a3bb, committed 2015-10-21
- Comitter:
- RemcoDas
- Date:
- Wed Oct 21 10:17:10 2015 +0000
- Parent:
- 37:090ba5b1e655
- Child:
- 39:f0f9b3432f43
- Commit message:
- Killswitch tested
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Oct 20 13:54:54 2015 +0000
+++ b/main.cpp Wed Oct 21 10:17:10 2015 +0000
@@ -35,7 +35,7 @@
int maxCounts = 13000; // max richt motor counts Aim motor
int breakPerc = 0;
const double servoL = 0.001, servoR = 0.0011; // Range servo,between servoL en servoR (= pulsewidth pwm servo)
-const double tControl = 0.005, tBreak = 0.1, tLcd = 2; // tickers
+const double tControl = 0.1, tBreak = 0.1, tLcd = 2; // tickers
const double Fs = 50; //Sample frequency Hz
double t = 1/ Fs; // time EMGticker
double thresholdlowL= 0, thresholdmidL = 0, thresholdhighL= 0;
@@ -145,15 +145,15 @@
}
void checkAim(){ // check if Killswitch is on or max counts is reached
double volt = KS.read();
- if(volt> 0.5 || abs(enc2.getPulses()) > (maxCounts -50) || enc2.getPulses() < 0){
+ if(volt> 0.5 /*|| abs(enc2.getPulses()) > (maxCounts -50) || enc2.getPulses() < 0*/){
pwmM2.write(0); // Aim motor freeze
- pc.printf("BOEM! CRASH! KASTUK! \r\n"); // Terminal
+ pc.printf("BOEM! CRASH! KASTUK! %f\r\n", KS.read()); // Terminal
PRINT("BOEM! CRASH!"); // LCD
}
}
void motorAim(int dir){ // Rotate Aim motor with given direction
dirM2.write(dir);
- pwmM2.write(0.25);
+ pwmM2.write(0.1);
}
bool controlAim(){ // Function to control aim motor with modes
bool both = false; // boolean if both modes are 3
@@ -228,25 +228,29 @@
dirM2.write(0); // direction aim motor
pwmM2.write(0.1); // percentage motor power
bool calibrated = false; //
- while(state==CALIBRATE_AIM){
- pc.printf("Killswitch: %f\r\n", KS.read()); // terminal
- if(KS.read() > 0.5){ // Killswitch? //2* gedaan, zodat breuk uit de if-statement is
- pwmM2.write(0); // Aim motor freeze
- enc2.reset(); // Reset encoder
- PRINT("Aim calibrated"); // LCD
- calibrated = true; //
- state = CALIBRATE_PEND; // next state
- //dirM2.write(1); // direction aim motor
- //pwmM2.write(0.25); // percentage motor power, turn it on
- }
+ while(state==CALIBRATE_AIM){
+ if(controlFlag){ // motor regelen op GoFlag
+ controlFlag = false;
+ if(KS.read() > 0.8){ // Killswitch? //2* gedaan, zodat breuk uit de if-statement is
+ pwmM2.write(0); // Aim motor freeze
+ enc2.reset(); // Reset encoder
+ PRINT("Aim calibrated"); // LCD
+ pc.printf("Aim calibrated\r\n");
+ calibrated = true; //
+ state = CALIBRATE_PEND; // next state
+ wait(2);
+ //dirM2.write(1); // direction aim motor
+ //pwmM2.write(0.25); // percentage motor power, turn it on
+ }
+ pc.printf("Killswitch: %f\r\n", KS.read()); // terminal
/*
if(controlFlag && calibrated){ // motor regelen op GoFlag
controlFlag = false;
if(enc1.getPulses() > maxCounts/2){ // rotate aim motor to midi position
pwmM2.write(0); // Aim motor freeze
state = CALIBRATE_PEND; // next state
- }
- } */
+ } */
+ }
}
break;
}
@@ -279,16 +283,19 @@
pwmM1.write(0); // Motor 1 freeze
enc1.reset(); // encoder 1 reset
PRINT("Beam calibrated");
+ pc.printf("Beam calibrated\r\n");
btn = false; // button op false
state = AIM; // next state
}
else if(modeL == 2){
pwmM1.write(0); // beam freeze
PRINT("Flex both full to continue"); // LCD
+ pc.printf("Beam freeze\r\n");
}
else if(modeR == 2){
pwmM1.write(0.025); // beam rotate
PRINT("Flex left half to stop beam"); // LCD
+ pc.printf("Beam move\r\n");
}
}
}