Opgeschoonde code voor verslag
Dependencies: Encoder HIDScope MODSERIAL mbed
Fork of TotalCodegr13V2 by
Diff: main.cpp
- Revision:
- 14:25edcf2935f6
- Parent:
- 13:4f4cc1a5a79a
- Child:
- 15:ece330b45d93
diff -r 4f4cc1a5a79a -r 25edcf2935f6 main.cpp --- a/main.cpp Wed Oct 28 14:29:18 2015 +0000 +++ b/main.cpp Thu Oct 29 22:56:57 2015 +0000 @@ -239,13 +239,13 @@ void move_motor1() { - if (safety_stop == true && (final_filter1 > 0.02 || button_1 == pressed)) { + if (safety_stop == true && (final_filter1 > 0.05 && final_filter2 < 0.02 && final_filter3 < 0.04 && final_filter4 < 0.04)) { pc.printf("motor1 cw \n\r"); - motor1_direction = 0; //counterclockwise + motor1_direction = 1; //clockwise motor1_speed = 0.1; - } else if (safety_stop == true && (final_filter2 > 0.02 || button_2 == pressed)) { + } else if (safety_stop == true && (final_filter2 > 0.05 && final_filter1 < 0.02 && final_filter3 < 0.04 && final_filter4 < 0.04)) { pc.printf("motor1 ccw \n\r"); - motor1_direction = 1; //clockwise + motor1_direction = 0; //counterclockwise motor1_speed = 0.1 ; } else { pc.printf("Not moving1 \n\r"); @@ -255,11 +255,11 @@ void move_motor2() { - if (safety_stop == true && (final_filter3 > 0.08 || button_1 == pressed)) { + if (safety_stop == true && (final_filter3 > 0.04 && final_filter1 < 0.02 && final_filter2 < 0.02 && final_filter4 < 0.02)) { pc.printf("motor2 cw \n\r"); motor2_direction = 1; //clockwise motor2_speed = 0.4; - } else if (safety_stop == true && (final_filter4 > 0.08 || button_2 == pressed)) { + } else if (safety_stop == true && (final_filter4 > 0.03 && final_filter1 < 0.02 && final_filter2 < 0.02 && final_filter3 < 0.02)) { pc.printf("motor2 ccw \n\r"); motor2_direction = 0; //counterclockwise motor2_speed = 0.4; @@ -325,8 +325,8 @@ safety_stop = true; while (true) { pc.baud(9600); //pc baud rate van de computer - EMG_Filter.attach_us(Filters, 5e4); //filters uitvoeren - Scope.attach_us(HIDScope, 5e4); //EMG en encoder signaal naar de hidscope sturen + EMG_Filter.attach_us(Filters, 5e3); //filters uitvoeren + Scope.attach_us(HIDScope, 5e3); //EMG en encoder signaal naar de hidscope sturen switch (state) { //zorgt voor het in goede volgorde uitvoeren van de cases