Sjors de Bruin / Mbed 2 deprecated MOD09_Biorobotics_Groep_14

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

Diff: main.cpp

Revision:
31:465a6e1e1db6
Parent:
30:a16519224d58
Child:
32:7355524d862f
--- a/main.cpp	Wed Oct 30 14:43:34 2019 +0000
+++ b/main.cpp	Wed Oct 30 16:04:43 2019 +0000
@@ -30,6 +30,8 @@
 
 
 // variables
+int m = 0;
+
 const float pi = 3.1416;
 const float l = 0.535;
 Ticker          TickerStateMachine;
@@ -556,26 +558,28 @@
         CurrentState = horizontal_movement;
         StateChanged = true;
     }*/
-    
-    while (beweging =='s') {
+      m++;
+    if (m<5) {
         EMGy_velocity = -0.02f;
-        pc.printf("beweging %c \n\r", beweging);
         pc.printf("beweging %f \n\r", EMGy_velocity);
-    
+        
     }
-    while (beweging == 'w') {
+    else if (m>=5 && m<=10) {
         EMGy_velocity = 0.02f;
-        pc.printf("beweging %c \n\r", beweging);
         pc.printf("beweging %f \n\r", EMGy_velocity);
     }    
-    while(beweging != 's' || beweging !='w'){
+    
+    else {
         EMGy_velocity = 0.0f;
+        pc.printf("beweging %f \n\r", EMGy_velocity);
     }
-    if ((pressed_1) || (pressed_2) /*|| (emg_switch(treshold_leg,EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg)))*/) { // EMG gebaseerde threshold aanmaken
+
+    /*if ((pressed_1) || (pressed_2) || (emg_switch(treshold_leg,EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg)))) { // EMG gebaseerde threshold aanmaken
         CurrentState = horizontal_movement;
         StateChanged = true;  
+        }*/
         }
-}
+
 
 void while_horizontal_movement()
 {
@@ -595,9 +599,11 @@
         StateChanged = true;
     }
     */
+    
     if (beweging == 'a') {
         EMGx_velocity = -0.02f;
         pc.printf(" you pressed %c \n\r" , beweging);
+    
     }
     if (beweging == 'd') {
         EMGx_velocity = 0.02f;
@@ -606,6 +612,7 @@
     else {
         EMGx_velocity = 0.0f;
     }
+
     if ((pressed_1) || (pressed_2) /*|| (emg_switch(treshold_leg,EmgCalibration(emgFiltered_leg, mvc_value_leg, rest_value_leg)))*/) { // EMG gebaseerde threshold aanmaken
         CurrentState = vertical_movement;
         StateChanged = true;