23:00
Dependencies: biquadFilter MODSERIAL QEI Servo mbed
Fork of StateMachine_EMg_RKI_PID_MOTOR_DEMO_CLICK by
Diff: main.cpp
- Revision:
- 16:438b330f5312
- Parent:
- 15:6ad7abc5c691
--- a/main.cpp Thu Nov 01 21:23:12 2018 +0000 +++ b/main.cpp Thu Nov 01 22:00:34 2018 +0000 @@ -130,7 +130,7 @@ int EMGymin ; // Dit moet experimenteel geperfectioneerd worden -float tijdstap = 0.005; //nu wss heel langzaam, kan miss omhoog KEER V GEEFT VERANDERING IN POSITIE +float tijdstap = 0.001; //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 @@ -317,42 +317,44 @@ void demomodus() { - if(t==2) { - px = px1; - py = py1; - } else if(t==4) { - px = px2; - py = py2; - } else if(t==6) { - px = px3; - py = py3; - } else if(t==8) { - px = px1; - py = py1; - } else if(t==10) { - px = px5; - py = py5; - } else if(t==12) { - px = px6; - py = py6; - } else if(t==14) { - px = px1; - py = py1; - } else if(t==16) { - px = px3; - py = py3; - } else if(t==18) { - px = px5; - py = py5; - } else if(t==20) { - px = px2; - py = py2; - } else if(t==22) { - px = px6; - py = py6; - } else if(t==24) { - px = px1; - py = py1; + while(t<48) { + if(t>=0 && t<4) { + px = px1; + py = py1; + } else if(t>=4 && t<8) { + px = px2; + py = py2; + } else if(t>=8 && t<12) { + px = px3; + py = py3; + } else if(t>=12 && t<16) { + px = px1; + py = py1; + } else if(t>=16 & t<20) { + px = px5; + py = py5; + } else if(t>=20 && t<24) { + px = px6; + py = py6; + } else if(t>=24 && t<28) { + px = px1; + py = py1; + } else if(t>=28 && t<32) { + px = px3; + py = py3; + } else if(t>=32 && t<36) { + px = px5; + py = py5; + } else if(t>=36 && t<40) { + px = px2; + py = py2; + } else if(t>=40 && t<44) { + px = px6; + py = py6; + } else if(t>=44 && t<48) { + px = px1; + py = py1; + } } } @@ -646,13 +648,12 @@ led1 = 0; led2 = 1; led3 = 0; - wait (1); + wait(1); t.reset(); t.start(); demomodus(); - if(t>=26) { - t.stop(); - } + t.stop(); + stateChanged = false; } @@ -671,14 +672,14 @@ led1 = 1; led2 = 0; led3 = 0; - wait(2); + wait(0.5); movement_ticker_activator(); led1 = 0; led2 = 0; led3 = 0; - wait(2); + wait(0.5); stateChanged = false; @@ -759,6 +760,7 @@ led1 = 1; led2 = 1; led3 = 0; + wait(1); for(float p=1; p>0; p -= 0.1) { myservo = p; wait(0.1);