Revision 6:bfd24400e9d0, committed 2015-10-22

Comitter:

Zeekat

Date:

Thu Oct 22 12:21:06 2015 +0000

Parent:

5:867fe891b990

Child:

7:84abed2f376c

Commit message:

last version

Changed in this revision

--- a/main.cpp	Thu Oct 22 11:34:39 2015 +0000
+++ b/main.cpp	Thu Oct 22 12:21:06 2015 +0000
@@ -123,10 +123,10 @@
     double m2_prev_err = 0;
 
 // EMG calibration variables
-double emg_gain1 = 1;       // set to one for unamplified signal
-double emg_gain2 = 1;
+double emg_gain1 = 7;       // set to one for unamplified signal
+double emg_gain2 = 7;
 
-double cal_samples = 25;
+double cal_samples = 125;
 double normalize_emg_value = 1;      // set te desired value to calibrate the signal to
 
 //// FILTER VARIABLES
@@ -319,8 +319,10 @@
     output2 = y5t;
     output2_amp = y5t*emg_gain2; 
     
-    scope.set(0,output1_amp);
-    scope.set(1,output2_amp);
+    scope.set(0,output1);
+    scope.set(1,output2);
+    scope.set(2,output1_amp);
+    scope.set(3,output2_amp);
     scope.send();
  }
  
@@ -329,17 +331,16 @@
  void det_angles()
 {
     
+    if(output1_amp>1) {output1_amp = 1;}
+    if(output2_amp>1) {output2_amp = 1;}
     
-    if(output1>1) {output1 = 1;}
-    if(output2>1) {output2 = 1;}
-    
-    output1 = potright.read();
-    output2 = potleft.read();
+    //output1 = potright.read();
+    //output2 = potleft.read();
     
     double xx = 50+output1_amp*20;
     
-    double ymin = - sqrt(4900 - pow(xx,2));
-    double ymax = sqrt(4900 - pow(xx,2));
+    double ymin = -16; //- sqrt(4900 - pow(xx,2));
+    double ymax = 16; //sqrt(4900 - pow(xx,2));
     double yy = ymin+output2_amp*(ymax-ymin);
     double r = sqrt(pow(xx,2)+pow(yy,2)); // vector naar end effector
     double alfa = acos((2*pow(L,2)-pow(r,2))/(2*pow(L,2))); // alfa is de hoek tussen upper en lower arm
@@ -432,7 +433,6 @@
 {
     double total1 = 0;
     double total2 = 0;
-
     for(int i = 0; i<cal_samples; i++)
     {
         EMG_filter();       // run filter
@@ -441,7 +441,7 @@
         
         double input2 = output2;
         total2 = total2 + input2;
-        wait(0.1);
+        wait(0.02);
     }
     emg_gain1 = normalize_emg_value/(total1/cal_samples);  // normalize the amplification so that the maximum signal hits the desired one
     emg_gain2 = normalize_emg_value/(total2/cal_samples);