met knopjes, voor Wubs, zit PID in dus restrictie.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of a_pid_kal_end_def by
Diff: main.cpp
- Revision:
- 46:4a8889f9dc9f
- Parent:
- 45:08bddea67bd8
- Child:
- 47:ddaa59d48aca
--- a/main.cpp Wed Nov 02 16:18:25 2016 +0000 +++ b/main.cpp Wed Nov 02 16:24:59 2016 +0000 @@ -1,19 +1,21 @@ -//========================================== + +//===================================================================================== //libraries #include "mbed.h" #include "HIDScope.h" #include "BiQuad.h" #include "MODSERIAL.h" -//========================================= + +//===================================================================================== //Define objects AnalogIn emg_biceps_right_in( A0 ); //analog in to get EMG biceps (r) in to c++ AnalogIn emg_triceps_right_in(A1); //analog in to get EMG triceps (r) in to c++ AnalogIn emg_biceps_left_in (A2); //analog in to get EMG biceps (l) in to c++ -Ticker sample_timer; //ticker -Ticker ticker_switch; //ticker -HIDScope scope(5); //open 3 channels in hidscope -MODSERIAL pc(USBTX, USBRX); //pc connection +Ticker sample_timer; //ticker +Ticker ticker_switch; //ticker +HIDScope scope(5); //open 5 channels in hidscope +MODSERIAL pc(USBTX, USBRX); //pc connection DigitalOut red(LED_RED); DigitalOut green(LED_GREEN); @@ -23,6 +25,7 @@ DigitalOut richting_motor2(D7); PwmOut pwm_motor2(D6); +//===================================================================================== //define variables //other int onoffsignal_rightarm=0; // on/off signal: 1; biceps activation, 0: nothing, -1, triceps activation @@ -34,6 +37,12 @@ int onoffsignal_biceps; int switch_signal_triceps; + +float speedmotor1=0.18; +float speedmotor2=1.0; + +int cw=0; +int ccw=1; //======================================= //filter coefficients @@ -173,15 +182,15 @@ { if (switch_signal%2==0) { - richting_motor1 = 1; //motor 1, left - pwm_motor1 = 1; + richting_motor1 = ccw; //motor 1, left + pwm_motor1 = speedmotor1; } else { - richting_motor2 = 1; //motor 2, up - pwm_motor2 = 1; + richting_motor2 = ccw; //motor 2, up + pwm_motor2 = speedmotor2; } @@ -190,14 +199,14 @@ { if (switch_signal%2==0) // als d is ingedrukt en n is even dan gebeurd het volgende { - richting_motor1 = 0; //motor 1, right - pwm_motor1 = 1; + richting_motor1 = cw; //motor 1, right + pwm_motor1 = speedmotor1; } else // als d is ingedrukt maar het getal is niet even (dus oneven) gebeurt het onderstaande { - richting_motor2 = 0; //motor 2. down - pwm_motor2 = 1; + richting_motor2 = cw; //motor 2. down + pwm_motor2 = speedmotor2; } }