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Dependencies: Servoaansturing mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 24:764b71885785
- Parent:
- 23:4572750a5c59
- Child:
- 25:582e0b1a9a78
--- a/main.cpp Mon Oct 28 18:55:22 2019 +0000
+++ b/main.cpp Tue Oct 29 09:34:25 2019 +0000
@@ -312,25 +312,35 @@
{
if (normalized_EMG_biceps_right >= 0.3)
{
- motor1.write(0.5);
- motor1_dir.write(1);
- motor2.write(0);
- motor2_dir.write(1);
+ motor1.write(0.3);
+ motor2.write(0.3);
+ // motor1_dir.write(1);
+ // motor2.write(0);
+ // motor2_dir.write(1);
if (normalized_EMG_calf >= 0.3)
{
motor1.write(0.1);
+ motor2.write(0.1);
motor1_dir = !motor1_dir;
+ motor2_dir = !motor2_dir;
+ motor1.write(0.3);
+ motor2.write(0.3);
}
if (normalized_EMG_biceps_left >= 0.3)
{
- motor2.write(0.9);
- motor2_dir.write(1);
- motor1.write(0);
- motor1_dir.write(1);
+ motor1.write(0.8);
+ motor2.write(0.8);
+ // motor2_dir.write(1);
+ // motor1.write(0);
+ // motor1_dir.write(1);
if (normalized_EMG_calf >= 0.3)
- {
+ {
+ motor1.write(0.1);
motor2.write(0.1);
+ motor1_dir = !motor1_dir;
motor2_dir = !motor2_dir;
+ motor1.write(0.8);
+ motor2.write(0.8);
}
}
}
@@ -338,67 +348,71 @@
{
motor1.write(0);
motor2.write(0);
- if (normalized_EMG_calf >= 0.3)
- {
- // motor1_dir = !motor1_dir;
- // pc.printf("Richting zou om moeten draaien");
- // motor2_dir = !motor2_dir;
- }
if (normalized_EMG_biceps_left >= 0.3)
{
- motor2.write(0.9);
- motor2_dir.write(1);
- motor1.write(0);
- motor1_dir.write(1);
+ motor1.write(0.8);
+ motor2.write(0.8);
+ // motor1.write(0);
+ // motor1_dir.write(1);
if (normalized_EMG_calf >= 0.3)
{
- // motor1_dir = !motor1_dir;
- // pc.printf("Richting zou om moeten draaien");
- // motor2_dir = !motor2_dir;
+ motor1.write(0.1);
+ motor2.write(0.1);
+ motor1_dir = !motor1_dir;
+ motor2_dir = !motor2_dir;
+ motor1.write(0.8);
+ motor2.write(0.8);
}
}
}
if (normalized_EMG_biceps_left >= 0.3)
{
- motor2.write(0.9);
- motor2_dir.write(1);
- motor1.write(0);
- motor1_dir.write(1);
+ motor1.write(0.8);
+ motor2.write(0.8);
+ // motor1.write(0);
+ // motor1_dir.write(1);
if (normalized_EMG_calf >= 0.3)
{
- // motor1_dir = !motor1_dir;
- // pc.printf("Richting zou om moeten draaien");
- // motor2_dir = !motor2_dir;
+ motor1.write(0.1);
+ motor2.write(0.1);
+ motor1_dir = !motor1_dir;
+ motor2_dir = !motor2_dir;
+ motor1.write(0.8);
+ motor2.write(0.8);
}
if (normalized_EMG_biceps_right >= 0.3)
{
- motor1.write(0.5);
- motor1_dir.write(1);
- motor2.write(0);
- motor2_dir.write(1);
+ motor1.write(0.3);
+ motor2.write(0.3);
if (normalized_EMG_calf >= 0.3)
{
- // motor1_dir = !motor1_dir;
- // pc.printf("Richting zou om moeten draaien");
- // motor2_dir = !motor2_dir;
+ motor1.write(0.1);
+ motor2.write(0.1);
+ motor1_dir = !motor1_dir;
+ motor2_dir = !motor2_dir;
+ motor1.write(0.3);
+ motor2.write(0.3);
}
}
}
if (normalized_EMG_biceps_left < 0.3)
{
+ motor1.write(0);
motor2.write(0);
- motor1.write(0);
if (normalized_EMG_biceps_right >= 0.3)
{
- motor1.write(0.5);
- motor1_dir.write(1);
- motor2.write(0);
- motor2_dir.write(1);
+ motor1.write(0.3);
+ motor2.write(0.3);
+ // motor2.write(0);
+ // motor2_dir.write(1);
if (normalized_EMG_calf >= 0.3)
{
- // motor1_dir = !motor1_dir;
- // pc.printf("Richting zou om moeten draaien");
- // motor2_dir = !motor2_dir;
+ motor1.write(0.1);
+ motor2.write(0.1);
+ motor1_dir = !motor1_dir;
+ motor2_dir = !motor2_dir;
+ motor1.write(0.3);
+ motor2.write(0.3);
}
}
}