Diff: main.cpp

Revision:

19:da210f89db18

Parent:

18:e3b41351ee71

--- a/main.cpp	Wed Oct 07 13:25:49 2015 +0000
+++ b/main.cpp	Wed Oct 07 18:27:03 2015 +0000
@@ -4,7 +4,7 @@
 #include "HIDScope.h"
 
 Serial pc(USBTX,USBRX);
-HIDScope scope(1);          // definieerd het aantal kanalen van de scope
+HIDScope scope(2);          // definieerd het aantal kanalen van de scope
 
 Ticker          controller1, controller2;        // definieer de ticker die controler1 doet
 
@@ -27,6 +27,7 @@
 //POTMETERS
 AnalogIn potright(A0);      
 AnalogIn potleft(A1);
+AnalogIn gainpot(A5);
 
 // RESETBUTTON
 DigitalIn   button(PTA4);
@@ -104,6 +105,16 @@
 
 // // // // // // EINDE FILTERZOOI
 
+double EMG_gain ()
+{
+    double frac = gainpot.read();
+    double EMG_Gain = frac*30;
+    return EMG_Gain;
+    scope.set(1,EMG_Gain);
+    scope.send();
+}
+
+// // // // // // EXtra funties
 // counts 2 radians
 // this function takes the counts from the encoder and converts it to 
 // the amount of radians from the zero position.
@@ -159,7 +170,7 @@
 // // // // // // // // // //
 void motor1_control()
 {
-    double input = (EMG_Filter())*15 ;
+    double input = EMG_Filter()*EMG_gain() ;
     if(input > 1 )
     {
         input = 1;
@@ -168,6 +179,7 @@
     {
         input = 0;
     }
+    
     double setpoint1 = setpoint_f(input, c_setpoint1);      // determine the setpoint that has been set by the inputsignal
     double rads1 = get_radians(motor1_enc.getPosition());    // determine the position of the motor
     double error1 = (setpoint1 - rads1);                       // determine the error (reference - position)
@@ -195,7 +207,7 @@
     // scope.set(4,rads2);
     // scope.send();
     double output2 = K_control(error2, K2);        // bereken de controller output voor motor 1(zie hierboven)
-    if(output2 > 0) {                    // 
+    if(output2 > 0) {                         // determine the direction
         motor2_rich.write(0);
         motor2_aan.write(output2);
     } else if(output2 < 0) {
@@ -211,7 +223,7 @@
     controller2.attach(&motor2_control, controlstep);
     while(true) 
     {
-        if(button.read() == button_pressed)
+        if(button.read() == button_pressed)         // reset the counts
         {
             motor1_enc.setPosition(0);
             motor2_enc.setPosition(0);