Wil je hier nog je PID controler kort uitleggen? Is sneller denk ik. Rest is gedaan volgens mij. Hier zit kall in.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of another_try_from_scratch_on_emg by
Diff: main.cpp
- Revision:
- 53:6b91f69fa2dc
- Parent:
- 52:0135deb3b07f
- Child:
- 54:fb72c58a7150
diff -r 0135deb3b07f -r 6b91f69fa2dc main.cpp --- a/main.cpp Thu Nov 03 11:18:10 2016 +0000 +++ b/main.cpp Thu Nov 03 11:20:43 2016 +0000 @@ -196,8 +196,8 @@ if (onoffsignal_biceps==-1 && switch_signal%2==0){ //switch even //right biceps contracted{ d_ref = d_ref + w_ref * Ts; } - if (d_ref > 21.36 ){ - d_ref = 21.36; + if (d_ref > 10 ){ + d_ref = 10; //d_ref_const_cw = 1; } else{ @@ -207,8 +207,8 @@ if (onoffsignal_biceps==1 && switch_signal%2==0){ //switch even //left biceps contracted{ d_ref = d_ref - w_ref * Ts; } - if (d_ref < -21.36){ - d_ref = -21.36; + if (d_ref < -10){ + d_ref = -10; } else{