Diff: main.cpp

Revision:

9:831891bb0d11

Parent:

8:f2f45be5a060

Child:

10:93a76bd81eef

--- a/main.cpp	Thu Oct 29 17:46:33 2015 +0000
+++ b/main.cpp	Mon Nov 02 11:55:24 2015 +0000
@@ -44,7 +44,8 @@
         bool loop_start = false;
         bool calib_start = false;
         bool reset = false;
-        bool switch_xy = false;
+        bool program = false;
+
         
 // LED outputs on bioshield
     DigitalOut led_right(D2);
@@ -61,7 +62,8 @@
 // switch axes
     // bool switch_xy = false; // bool for switching axes
     double sw1 = 0; // counter for switching axes
-    double t_switch = 0.6; // seconds for switching
+    double t_switch = 0.8; // seconds for switching
+    bool switch_xy = false;
     
 // physical constants
     const double L = 36;           // lenght of arms
@@ -110,7 +112,7 @@
 double phi_two_curr = 0;
 
 // REFERENCE SETTINGS
-    double input_threshold = 0.25;   // the minimum value the signal must have in order to change the reference.
+    double input_threshold = 0.5;   // the minimum value the signal must have in order to change the reference.
  // Define storage variables for reference values (also start position)
     double c_reference_x = 60, c_reference_y = 0;
 // x-settings   (no y-settings because these are calculated from the current x-position)
@@ -442,8 +444,8 @@
     double xy_input2 = output2_amp;
 
     // use potmeter for debugging purposes (note: does not give a smooth signal due to mechanical breakdown)
-    //xy_input1 = potright.read();
-    //xy_input2 = potleft.read();
+    xy_input1 = potright.read();
+    xy_input2 = potleft.read();
     
     // add a threshold to the signals and limit to [0,1]
     xy_input1 = adapt_signal(xy_input1);
@@ -453,8 +455,7 @@
     switch_axes(xy_input1,xy_input2);       
     
     double xy_main_input = xy_input1 - xy_input2 ;    // subtract inputs to create a signal that can go from -1 to 1
- 
-    //scope.set(0,xy_main_input);
+
     // limit the output between -1 and 1 (signal is not supposed to be able to go above but last check)
     if(xy_main_input>1) {xy_main_input = 1;}
     if(xy_main_input<-1) {xy_main_input = -1;}
@@ -474,7 +475,7 @@
     if(switch_xy == true){yy = reference_f(xy_main_input,c_reference_y,y_min,y_max,Vmax_y);}
     
     // start the pre-programmed movement
-    // square_move();
+    // if(program){square_move();}
     
     // check the references (otherwise unwanted behavior)
     //if(yy < y_min){yy = y_min;}
@@ -512,11 +513,6 @@
         phi_one = reset_phi_one;
         phi_two = reset_phi_two;
     }
-    
-    scope.set(0,yy);
-    scope.set(1,y_min);
-    scope.set(2,y_max);
-    scope.send();
 }