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Dependencies: Encoder HIDScope MODSERIAL QEI biquadFilter mbed
Diff: main.cpp
- Revision:
- 32:10e6160fdbaa
- Parent:
- 31:113f630f7e7d
- Child:
- 33:5386ccaa5160
--- a/main.cpp Mon Oct 12 21:13:56 2015 +0000 +++ b/main.cpp Mon Oct 12 21:37:11 2015 +0000 @@ -47,7 +47,7 @@ PwmOut pwm_motor_strike(D5); // Pwm for motor Turn DigitalOut motordirection_strike(D4); // Direction of the motor Turn - double reference_turn=0; // Set constant to store reference value of the Turn motor + double reference_turn; // Set constant to store reference value of the Turn motor double position_turn; // Set constant to store current position of the Turn motor double position_strike; float EMG_R; @@ -65,6 +65,8 @@ // START OF CODE // pc.printf(" Start of code \n\r"); + reference_turn=0; + pc.baud(115200); // Set the baudrate // Calibratie // @@ -100,8 +102,8 @@ debug_led_blue=off; debug_led_green=on; // LED Turns green if ready for a new action wait(1); - EMG_R = (potmeter1.read()); //EMG Right bicep (tussen nul en 100%) - EMG_L = (potmeter2.read()); // EMG Left bicep (tussen nul en 100%) + EMG_R = (potmeter1.read())*100; //EMG Right bicep (tussen nul en 100%) + EMG_L = (potmeter2.read())*100; // EMG Left bicep (tussen nul en 100%) pc.printf("EMG_L = %f EMG_R = %f \n\r", EMG_L, EMG_R); @@ -191,7 +193,9 @@ debug_led_blue=off; reference_turn=reference_turn-change_one_bottle; n=1; - } //(45 graden naar rechts voor volgende fles) //wordt maar 1 keer uitgevoerd + } + //(45 graden naar rechts voor volgende fles) //wordt maar 1 keer uitgevoerd + pc.printf("Ref: %f Err: %f \n\r", reference_turn, position_turn); if (abs(position_turn-reference_turn)<2) // als error en kleiner dan twee graden {