Revision 11:44b1c5b3b378, committed 2015-11-02

Comitter:

Zeekat

Date:

Mon Nov 02 14:15:11 2015 +0000

Parent:

10:93a76bd81eef

Commit message:

add tekst;

Changed in this revision

--- a/main.cpp	Mon Nov 02 12:30:04 2015 +0000
+++ b/main.cpp	Mon Nov 02 14:15:11 2015 +0000
@@ -26,7 +26,7 @@
     Encoder motor1_enc(D12,D11), motor2_enc(D10,D9);        // encoderinputpins
 
 // EXTRA INPUTS AND REQUIRED VARIABLES
-//POTMETERS (used for debugging purposes, not reliable anymore)
+//POTMETERS (used for debugging purposes, not reliable due to mechanical failure)
     AnalogIn potright(A4);      // define the potmeter outputpins
     AnalogIn potleft(A5);
     
@@ -63,7 +63,7 @@
     // bool switch_xy = false; // bool for switching axes
     double sw1 = 0; // counter for switching axes
     double t_switch = 0.8; // seconds for switching
-    bool switch_xy = false;
+    bool switch_xy = false; // set the start value
     
 // physical constants
     const double L = 36;           // lenght of arms
@@ -149,7 +149,7 @@
 
 // FILTER VARIABLES
     // storage variables
-        // differential action filter, same is used for PID controllers
+        // differential action filter.
             double m_f_v1 = 0, m_f_v2 = 0;
         // input filter to smooth angle reference signals
             double r1_f_v1 = 0, r1_f_v2 = 0, r2_f_v1 = 0, r2_f_v2 = 0;
@@ -494,7 +494,7 @@
 }
 
 // calibrate the emg-signal
-// works bij taking a certain amount of samples taking the max then normalize to the desired value
+// works bij taking a certain amount of samples taking the max value then normalize to the desired value
 // went to max-value type. must be tested.!
 void calibrate_amp()
 {
@@ -516,7 +516,7 @@
 //////////// DEFINE GO-FLAG FUNCTIONS ///////////////////////////
 ////////////////////////////////////////////////////////////////
 
-
+// go-flag functions
 void EMG_activate(){emg_go = true;}
 void angle_activate(){cart_go = true;}
 void motor1_activate(){motor1_go = true;}
@@ -524,9 +524,10 @@
 
 int main()
 {
+    // call go-flag tickers
     main_filter.attach(&EMG_activate, EMG_step);
     cartesian.attach(&angle_activate, controlstep);
-    controller1.attach(&motor1_activate, controlstep);      // call a go-flag
+    controller1.attach(&motor1_activate, controlstep);      
     controller2.attach(&motor2_activate, controlstep); 
     while(true) 
     {