Diff: main.cpp

Revision:

6:1597888c9a56

Parent:

5:b9d5d7311dac

Child:

7:22126f285d69

--- a/main.cpp	Thu Oct 22 13:11:55 2015 +0000
+++ b/main.cpp	Thu Oct 22 13:53:03 2015 +0000
@@ -16,7 +16,9 @@
 //AnalogIn    EMG_legright (A3);
 Ticker      controller;
 Ticker      ticker_regelaar;
-Ticker      EMG_Control;
+Ticker      EMG_Filter;
+Ticker      Scope;
+//Ticker      Encoder_Scope;
 //Timer       Timer_Calibration;
 Encoder     motor1(D12,D13);
 HIDScope    scope(3);
@@ -32,7 +34,7 @@
 #define SAMPLETIME_REGELAAR 0.005
 
 //define states
-enum state {HOME, CALIBRATIE, MOVE_MOTOR, BACKTOHOMEPOSITION, STOP};
+enum state {HOME, MOVE_MOTOR, BACKTOHOMEPOSITION, STOP};
 uint8_t state = HOME;
 
 // Berekening van de output shaft resolution. Het aantal counts per 1 graden verandering
@@ -128,15 +130,7 @@
     y9 = biquad (u8, flp1_v1, flp1_v2, flp1_a1, flp1_a2, flp1_b0* 0.010386, flp1_b1* 0.010386, flp1_b2* 0.010386);
     u9 = y9;
     final_filter1 = biquad(u9, flp2_v1, flp2_v2, flp2_a1, flp2_a2, flp2_b0*0.000109, flp2_b1*0.000109, flp2_b2*0.000109);
-    
-    scope.set (0, y8);
-   // scope.set (1, y2);
-   // scope.set (2, y4);
-   // scope.set (3, y7);
-   scope.set (1, final_filter1);
-   //scope.set (2, final_filter1); 
-    scope.send ();
-    } 
+} 
  
 
 void motor1_controlPI()
@@ -159,12 +153,12 @@
 
 void move_motor1_ccw (){
     motor1_direction = 0;
-    motor1_speed = 1;
+    motor1_speed = 0.4;
 }
 
 void move_motor1_cw (){
     motor1_direction = 1;
-    motor1_speed = 1;
+    motor1_speed = 0.4;
 }
 
 void movetohome(){
@@ -207,15 +201,25 @@
 //    wait(0.2f);
 //}
 
-void print_position(){
-    pc.printf("move motor \n\r");
-    wait(0.2f);
+void HIDScope (){
+      scope.set (0, y8);
+   // scope.set (1, y2);
+   // scope.set (2, y4);
+   // scope.set (3, y7);
+   scope.set (1, final_filter1);
+   //scope.set (2, final_filter1); 
+   scope.set(2, motor1.getPosition());
+    scope.send ();
     }
+    
+
+
 int main()
 {    
     while (true) {
         pc.baud(9600);          //pc baud rate van de computer
-        EMG_Control.attach_us(Filters,1e3);
+        EMG_Filter.attach_us(Filters, 1e3);
+        Scope.attach_us(HIDScope, 1e3);
         
     switch (state) {                //zorgt voor het in goede volgorde uitvoeren van de cases
         
@@ -225,7 +229,7 @@
             //read_encoder1();
             gethome();
             pc.printf("Home-position is %f\n\r", H);
-            state = CALIBRATIE;
+            state = MOVE_MOTOR;
             wait(5);
             break;
         }
@@ -255,7 +259,7 @@
             pc.printf("move_motor\n\r");
             while (state == MOVE_MOTOR){
             move_motor1();
-            print_position();
+            //print_position();
             if (button_1 == pressed && button_2 == pressed){
             state = BACKTOHOMEPOSITION;
             }