Revision 33:db4fc2f642f0, committed 2016-11-07

Comitter:

WterVeldhuis

Date:

Mon Nov 07 12:42:58 2016 +0000

Parent:

32:952f3f30a0cd

Commit message:

really really final code with commentary

Changed in this revision

--- a/main.cpp	Mon Nov 07 12:21:12 2016 +0000
+++ b/main.cpp	Mon Nov 07 12:42:58 2016 +0000
@@ -23,8 +23,8 @@
 PwmOut M3_Speed(D6);        // encoder side pot 1 spatel rotation
 
 //Booleans for simplifying the EMG control
-bool links;
-bool rechts;
+bool left;
+bool right;
 
 //EMG related inputs and outputs
 HIDScope    scope( 2 );
@@ -45,7 +45,7 @@
 float wheel1 = 16;
 float wheel2 = 31;
 float wheel3 = 41;
-float overbrenging = ((wheel2/wheel1)*(wheel3/wheel1));
+float transmission = ((wheel2/wheel1)*(wheel3/wheel1));
 float pi = 3.14159265359;
 
 //Global filter variables
@@ -95,7 +95,7 @@
 //setpoints
 volatile float setpointRotation;
 volatile float setpointTranslation;
-const double Setpoint_Translation = -200;
+const double Setpoint_Translation = -300;
 const double Setpoint_Back = 0;
 const double Setpoint_Rotation = pi;
 double M3_ControlSpeed = 0;
@@ -170,7 +170,7 @@
     float pulses2 = motor2.getPulses();
     float degrees2 = (pulses2/Puls_degree);
     float radians2 = (degrees2/360)*2*pi;
-    float translation = ((radians2/overbrenging)*32.25);
+    float translation = ((radians2/transmission)*32.25);
 
     return translation;
 }
@@ -259,7 +259,7 @@
         M2_ControlSpeed = 0;
 
     }
-    if ((theta_translation < -192) && (M2_ControlSpeed == 0))
+    if ((theta_translation < -292) && (M2_ControlSpeed == 0))
         booltranslate = true;
     if ((theta_translation > -8) && (M2_ControlSpeed == 0))
         booltranslate = false;
@@ -317,52 +317,52 @@
     
     //booleans based on EMG input
     if (lowpassFilterRight < threshold_Right)
-        rechts = 0;
+        right = 0;
     if (lowpassFilterRight > threshold_Right)
-        rechts = 1;
+        right = 1;
     if (lowpassFilterLeft < threshold_Left)
-        links = 0;
+        left = 0;
     if (lowpassFilterLeft > threshold_Left)
-        links = 1;
+        left = 1;
     pc.baud(115200);
     
     //based on the EMG inputs and the boolean 'turn' (which is a go flag for the burger flip action) turnLeft and turnRight are set.
     //turnLeft and turnRight control the base motor which rotates the entire robot.
-    if ((rechts == 1) && (links == 1) && (turn == 0)) {
+    if ((right == 1) && (left == 1) && (turn == 0)) {
         turnLeft = 0;
         turnRight = 0;
         turn = 1;
-        pc.printf("begin de actie \n \r ");
+        pc.printf("start action \n \r ");
         wait(waiter);
 
-    } else if ((rechts == 1) && (links == 1) && (turn == 1)) {
+    } else if ((right == 1) && (left == 1) && (turn == 1)) {
         turnLeft = 0;
         turnRight = 0;
         turn = 0;
-        pc.printf("breek de actie af \n \r ");
+        pc.printf("cancel action \n \r ");
         GoBack();
         wait(waiter);
-    } else if ((rechts == 0) && (links == 0)&& (turn == 0)) {
+    } else if ((right == 0) && (left == 0)&& (turn == 0)) {
 
-    } else if ((rechts == 1) && (turnLeft == 0)&& (turn == 0)) {
+    } else if ((right == 1) && (turnLeft == 0)&& (turn == 0)) {
         /* if the right button is pressed and the motor isn't rotating to the left,
         then start rotating to the right etc*/
         turnRight = !turnRight;
-        pc.printf("draai naar rechts \n \r ");
+        pc.printf("turn right \n \r ");
         wait(waiter);
-    } else if ((rechts == 1) && (turnLeft == 1)&& (turn == 0)) {
+    } else if ((right == 1) && (turnLeft == 1)&& (turn == 0)) {
         turnLeft = 0;
         turnRight = !turnRight;
-        pc.printf("draai naar rechts na links \n \r ");
+        pc.printf("turn right after left \n \r ");
         wait(waiter);
-    } else if ((links == 1) && (turnRight == 0)&& (turn == 0)) {
+    } else if ((left == 1) && (turnRight == 0)&& (turn == 0)) {
         turnLeft = !turnLeft;
-        pc.printf("draai naar links \n \r ");
+        pc.printf("turn left \n \r ");
         wait(waiter);
-    } else if ((links == 1) && (turnRight == 1) && (turn == 0)) {
+    } else if ((left == 1) && (turnRight == 1) && (turn == 0)) {
         turnRight = 0;
         turnLeft = !turnLeft;
-        pc.printf("draai naar links na rechts \n \r ");
+        pc.printf("turn left after right \n \r ");
         wait(waiter);
     }
     wait(2*waiter);