Diff: main.cpp

Revision:

6:bbef54156775

Parent:

5:0ae4951e9b81

Child:

7:d57eba2aed38

--- a/main.cpp	Mon Oct 08 08:25:44 2018 +0000
+++ b/main.cpp	Mon Oct 08 10:48:52 2018 +0000
@@ -11,6 +11,23 @@
 DigitalIn Knop2(D2);
 DigitalIn Knop3(PTA4);
 DigitalIn Knop4(PTC6);
+AnalogIn emg0( A0 );
+AnalogIn emg1( A1 );
+
+Ticker      sample_timer;
+HIDScope    scope( 2 );
+DigitalOut  led(LED1);
+
+
+void sample()
+{
+    
+    scope.set(0, emg0.read() );
+    scope.set(1, emg1.read() );
+  
+    scope.send();
+    led = !led;
+}
 
 int Turn_Motor1()
 {
@@ -19,14 +36,6 @@
             PwmPin1 = fabs(0.0); 
         }
         
-        else if (Knop3==false)// We see that Motor2 keeps rotating if we leave out the "else" statement, somehow the signal leaks
-        {
-            float u = 0.8f;
-            DirectionPin1 = u < 0.0f;
-            PwmPin1 = fabs(u);
-            PwmPin2 = fabs(0.0);  
-        }
-        
         else if (Knop1==false) // Motor 1 rotates CW
         {
             float u = 0.8f; //determine useful value, this is not final
@@ -36,6 +45,23 @@
             PwmPin2 = fabs(0.0); 
         }
         
+        else if (Knop3==false)// We see that Motor2 keeps rotating if we leave out the "else" statement, somehow the signal leaks
+        {
+            float u = 0.8f;
+            DirectionPin1 = u < 0.0f;
+            PwmPin1 = fabs(u);
+            PwmPin2 = fabs(0.0);  
+        }
+        /*
+        else if (Biceps_Rechts > )
+        {
+            float u = 0.8f; //determine useful value, this is not final
+            DirectionPin1 = u > 0.0f; //either true or false
+                                    // True = CW, for False = CW
+            PwmPin1 = fabs(u);
+            PwmPin2 = fabs(0.0); 
+        }
+        */
         else
         {  
             float u = 0.0f;
@@ -51,6 +77,14 @@
             PwmPin2 = fabs(0.0);
         }
         
+        else if (Knop2==false)
+        {
+            float u = 0.8f;
+            DirectionPin2 = u < 0.0f;
+            PwmPin1 = fabs(0.0);
+            PwmPin2 = fabs(u);  
+        }
+        
         else if (Knop4==false)
         {
             float u = 0.8f;
@@ -60,14 +94,6 @@
 
         }
         
-        else if (Knop2==false)
-        {
-            float u = 0.8f;
-            DirectionPin2 = u < 0.0f;
-            PwmPin1 = fabs(0.0);
-            PwmPin2 = fabs(u);  
-        }
-        
         else
         {  
             float u = 0.0f;
@@ -76,31 +102,21 @@
     return 0;
 }
 
-//Define objects
-AnalogIn    emg0( A0 );
-AnalogIn    emg1( A1 );
-
-Ticker      sample_timer;
-HIDScope    scope( 2 );
-DigitalOut  led(LED1);
-
-void sample()
-{
-    
-    scope.set(0, emg0.read() );
-    scope.set(1, emg1.read() );
-  
-    scope.send();
-    led = !led;
-}
-
 int main()
 {
     
     pc.baud(115200);     
     sample_timer.attach(&sample, 0.002);
     PwmPin1.period_us(120); //60 microseconds pwm period, 16.7 kHz 
-    
+    /*
+    for(;;)
+    {
+        double Biceps_Rechts = emg1.read();
+        double Biceps_1      = emg0.read();
+        pc.printf("%d  en %d      ", Biceps_Rechts, Biceps_1);
+        wait(0.8);
+    }
+    */
     for(;;)
     {
         Turn_Motor1();