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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
{
