Thomas Burgers
/
ZZ-TheChenneRobot
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Dependencies: Encoder HIDScope MODSERIAL QEI biquadFilter mbed
Diff: main.cpp
- Revision:
- 48:950b1f34161b
- Parent:
- 47:c61873a0b646
- Child:
- 49:a8a68abf814f
--- a/main.cpp Wed Oct 14 21:26:02 2015 +0000
+++ b/main.cpp Thu Oct 15 11:03:53 2015 +0000
@@ -68,10 +68,10 @@
// Main
// Start of code..............................................
-// calibrate..................................................
-// starting position motor..............................
-// EMG calibration......................................
-// Attach Ticker..............................................
+// calibrate..................................................
+// starting position motor.............................. (RED LED)
+// EMG calibration...................................... (BLUE LED)
+// Attach Ticker..............................................
// Start infinite loop........................................
// Debug buttons........................................
// Wait for go signal...................................
@@ -139,8 +139,8 @@
// : [Potmeter] :
// :__________________________:
// DEBUGGING / TESTING
-//moving_average_right = (potmeter1.read())*100; // EMG Right bicep (tussen nul en 100%)
-//moving_average_left = (potmeter2.read())*100; // EMG Left bicep (tussen nul en 100%)
+//moving_average_right = (input1.read())*100; // EMG Right bicep (tussen nul en 100%)
+//moving_average_left = (input2.read())*100; // EMG Left bicep (tussen nul en 100%)
// __________________________
// : [FLOW] :
@@ -153,7 +153,7 @@
// :__________________________:
//
-HIDScope scope(3); // HIDSCOPE declared
+//HIDScope scope(3); // HIDSCOPE declared
MODSERIAL pc(USBTX,USBRX);
//============================================================================================================================
@@ -391,20 +391,26 @@
if (buttonL2.read() < 0.5){ // TURN: turn the motor clockwise with pwm of 0.2
motordirection_turn = cw;
- pwm_motor_turn = 0.2f;}
+ pwm_motor_turn = 0.02;
+ pc.printf("cw calibration \n\r");}
if (buttonL1.read() < 0.5){ // TURN: turn the motor counterclockwise with pwm of 0.2
motordirection_turn = ccw;
- pwm_motor_turn = 0.2f;}
+ pwm_motor_turn = 0.02;
+ pc.printf("ccw calibration \n\r");}
+
+ pwm_motor_turn = 0;
// STRIKE: HIGH buttons
// if (buttonH2.read() < 0.5){ // STRIKE: turn the motor clockwise with pwm of 0.2
// motordirection_strike = cw;
-// pwm_motor_turn = 0.2f;}
+// pwm_motor_strike = 0.02;}
//
// if (buttonH1.read() < 0.5){ // STRIKE: turn the motor clockwise with pwm of 0.2
// motordirection_strike = ccw;
-// pwm_motor_turn = 0.2f;}
+// pwm_motor_strike = 0.02;}
+
+// pwm_motor_strike = 0;
//
if ((buttonL2.read() < 0.5) && (buttonL1.read() < 0.5)) // Save current TURN and STRIKE positions as starting position
{
@@ -507,7 +513,11 @@
// \\___________________________//
//
debug_led_green = on; //
- sample_filter();
+ //sample_filter();
+ moving_average_right = (input1.read())*100; // EMG Right bicep (tussen nul en 100%) // DEBUG TEST TOOL: substitute EMG input for potmeter inputs
+ moving_average_left = (input2.read())*100; // EMG Left bicep (tussen nul en 100%) // DEBUG TEST TOOL: substitute EMG input for potmeter inputs
+ pc.printf("mov_r = %f, mov_r = %f \n\r", moving_average_right, moving_average_left);
+
// scope.set(0,EMG_left_Bicep);
// scope.set(1,EMG_Left_Bicep_filtered);
// scope.set(2,moving_average_left);
@@ -705,10 +715,10 @@
// \\___________________________//
// // Check signals inside HIDSCOPE \\
- scope.set(0,error_turn); // HIDSCOPE channel 0 : Current Error
- scope.set(1,position_turn); // HIDSCOPE channel 1 : Position_turn
- scope.set(2,pwm_to_motor_turn); // HIDSCOPE channel 2 : Pwm_to_motor_turn
- scope.send(); // Send channel info to HIDSCOPE
+ //scope.set(0,error_turn); // HIDSCOPE channel 0 : Current Error
+ //scope.set(1,position_turn); // HIDSCOPE channel 1 : Position_turn
+ //scope.set(2,pwm_to_motor_turn); // HIDSCOPE channel 2 : Pwm_to_motor_turn
+ //scope.send(); // Send channel info to HIDSCOPE
// __________________________________
// // \\
