Diff: main.cpp

Revision:

17:45b31bf0c11e

Parent:

16:438b330f5312

--- a/main.cpp	Thu Nov 01 22:00:34 2018 +0000
+++ b/main.cpp	Fri Nov 02 13:46:29 2018 +0000
@@ -130,7 +130,7 @@
 int EMGymin ;
 
 // Dit moet experimenteel geperfectioneerd worden
-float tijdstap = 0.001;      //nu wss heel langzaam, kan miss omhoog KEER V GEEFT VERANDERING IN POSITIE
+float tijdstap = 0.005;      //nu wss heel langzaam, kan miss omhoog KEER V GEEFT VERANDERING IN POSITIE
 float v = 0.1;                // snelheid kan wss ook hoger
 
 float px = 0.2;     //starting x    // BOUNDARIES
@@ -142,10 +142,10 @@
 float da3 = 3.372859;
 
 // limits (since no forward kinematics)
-float upperxlim = 0.275; //36, 0.04, 0.315, -0.085niet helemaal naar requierments ff kijken of ie groter kan
-float lowerxlim = 0.10;
+float upperxlim = 0.25; //36, 0.04, 0.315, -0.085niet helemaal naar requierments ff kijken of ie groter kan
+float lowerxlim = 0.15;
 float upperylim = 0.225;
-float lowerylim = 0.03; //0.03 is goed
+float lowerylim = 0.05; //0.03 is goed
 
 // VARIABLES PID CONTROLLER
 double PI = M_PI;// CHANGE THIS INTO M_PI
@@ -619,7 +619,13 @@
                 led2 = 1;
                 led3 = 1;
                 wait (1);
-
+                if(t>0 && t<=4) {
+                    px = 0.2;
+                    py = 0.155;
+                } else {
+                    t.stop();
+                }
+                ///////////////////////////
                 stateChanged = false;
             }
 
@@ -672,14 +678,14 @@
                 led1 = 1;
                 led2 = 0;
                 led3 = 0;
-                wait(0.5);
+                wait(1);
 
                 movement_ticker_activator();
 
                 led1 = 0;
                 led2 = 0;
                 led3 = 0;
-                wait(0.5);
+                wait(1);
 
 
                 stateChanged = false;
@@ -807,7 +813,7 @@
     led3 = 1;
 
     pwmpin1.period_us(60); // setup motor
-    ref_rot.attach(Motor_mover, 0.01f);// HAS TO GO TO STATE MACHINE
+    ref_rot.attach(Motor_mover, 0.005f);// HAS TO GO TO STATE MACHINE
     //movement_ticker_activator();
     //emg_sample_ticker();
     while (true) {