Iris van Leeuwen
/
Lampje_EMG_Gr6
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Dependencies: HIDScope MODSERIAL mbed-dsp mbed Encoder
Fork of
Lampje_EMG_Gr6
by 
Jesse Kaiser
Revision 23:94b5746e52f5, committed 2014-10-31
- Comitter:
- irisl
- Date:
- Fri Oct 31 16:30:03 2014 +0000
- Parent:
- 22:14f5161d7d7b
- Child:
- 24:a61c2cadbd36
- Commit message:
- ook waardes ingevuld
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Oct 31 16:21:39 2014 +0000
+++ b/main.cpp Fri Oct 31 16:30:03 2014 +0000
@@ -8,7 +8,7 @@
#define TSAMP 0.005
#define K_P1 (3.5) //voor motor1 is het 3.5
#define K_I1 (0.01 *TSAMP) //voor motor1 is het 0.01
-#define K_P2 (3.5)
+#define K_P2 (0.7)
#define K_I2 (0.01 *TSAMP)
#define I_LIMIT 1.
//#define PI 3.14159265
@@ -300,18 +300,18 @@
{
speed1_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht)
setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
- if(setpoint1 > (180*2.3*2.0*PI/360)) { //setpoint in graden
- setpoint1 = (180*2.3*2.0*PI/360);
+ if(setpoint1 > (11.3*2.3*2.0*PI/360)) { //setpoint in graden
+ setpoint1 = (11.3*2.3*2.0*PI/360);
}
- if(setpoint1 < -(180*2.3*2.0*PI/360)) {
- setpoint1 = -(180*2.3*2.0*PI/360);
+ if(setpoint1 < -(11.3*2.3*2.0*PI/360)) {
+ setpoint1 = -(11.3*2.3*2.0*PI/360);
}
prev_setpoint1 = setpoint1;
}
void batje_rechts ()
{
- speed1_rad = 2.0; //positief is CCW, negatief CW (boven aanzicht)
+ speed1_rad = 1.0; //positief is CCW, negatief CW (boven aanzicht)
setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
if(setpoint1 > (11.3*2.3*2.0*PI/360)) { //setpoint in graden
setpoint1 = (11.3*2.3*2.0*PI/360);
@@ -342,7 +342,7 @@
void batje_begin_rechts ()
{
- speed1_rad = -2.0; //positief is CCW, negatief CW (boven aanzicht)
+ speed1_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht)
setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
if(setpoint1 > (0*2.3*2.0*PI/360)) { //setpoint in graden
setpoint1 = (0*2.3*2.0*PI/360);
@@ -355,48 +355,48 @@
void arm_hoog () //LET OP, PAS VARIABELE NOG AAN DIT IS VOOR TESTEN
{
- speed2_rad = 4.0; //positief is CCW, negatief CW (boven aanzicht)
+ speed2_rad = 6.0; //positief is CCW, negatief CW (boven aanzicht)
setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
- if(setpoint2 > (360.0*2.0*PI/360)) { //setpoint in graden
- setpoint2 = (360.0*2.0*PI/360);
+ if(setpoint2 > (155.0*2.0*PI/360)) { //setpoint in graden
+ setpoint2 = (155.0*2.0*PI/360);
}
- if(setpoint2 < -(360.0*2.0*PI/360)) {
- setpoint2 = -(360.0*2.0*PI/360);
+ if(setpoint2 < -(155.0*2.0*PI/360)) {
+ setpoint2 = -(155.0*2.0*PI/360);
}
prev_setpoint2 = setpoint2;
- if(setpoint2 >= (360.0*2.0*PI/360)-0.1) {
+ if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
staat2 = 1;
}
}
void arm_mid ()
{
- speed2_rad = 6.0; //positief is CCW, negatief CW (boven aanzicht)
+ speed2_rad = 4.0; //positief is CCW, negatief CW (boven aanzicht)
setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
- if(setpoint2 > (180.0*2.0*PI/360)) { //setpoint in graden
- setpoint2 = (180.0*2.0*PI/360);
+ if(setpoint2 > (155.0*2.0*PI/360)) { //setpoint in graden
+ setpoint2 = (155.0*2.0*PI/360);
}
- if(setpoint2 < -(180.0*2.0*PI/360)) {
- setpoint2 = -(180.0*2.0*PI/360);
+ if(setpoint2 < -(155.0*2.0*PI/360)) {
+ setpoint2 = -(155.0*2.0*PI/360);
}
prev_setpoint2 = setpoint2;
- if(setpoint2 >= (180.0*2.0*PI/360)-0.1) {
+ if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
staat2 = 1;
}
}
void arm_laag ()
{
- speed2_rad = 6.0; //positief is CCW, negatief CW (boven aanzicht)
+ speed2_rad = 2.0; //positief is CCW, negatief CW (boven aanzicht)
setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
- if(setpoint2 > (90*2.0*PI/360)) { //setpoint in graden
- setpoint2 = (90*2.0*PI/360);
+ if(setpoint2 > (155*2.0*PI/360)) { //setpoint in graden
+ setpoint2 = (155*2.0*PI/360);
}
- if(setpoint2 < -(90.0*2.0*PI/360)) {
- setpoint2 = -(90.0*2.0*PI/360);
+ if(setpoint2 < -(155.0*2.0*PI/360)) {
+ setpoint2 = -(155.0*2.0*PI/360);
}
prev_setpoint2 = setpoint2;
- if(setpoint2 >= (90.0*2.0*PI/360)-0.1) {
+ if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
staat2 = 1;
}
}
@@ -460,7 +460,7 @@
wait_iterator1 = 0;
} else if(staat1 ==1) {
wait_iterator1++;
- if(wait_iterator1 > 600)
+ if(wait_iterator1 > 1000)
staat1 = 2;
} else {
batje_begin_rechts();
@@ -473,7 +473,7 @@
wait_iterator1 = 0;
} else if(staat1 ==1) {
wait_iterator1++;
- if(wait_iterator1 > 600)
+ if(wait_iterator1 > 1000)
staat1 = 2;
} else {
batje_begin_links ();
@@ -487,7 +487,7 @@
wait_iterator2 = 0;
} else if(staat2 == 1) {
wait_iterator2++;
- if(wait_iterator2 > 200)
+ if(wait_iterator2 > 400)
staat2 = 2;
} else {
arm_begin();
@@ -499,7 +499,7 @@
wait_iterator2 = 0;
} else if(staat2 == 1) {
wait_iterator2++;
- if(wait_iterator2 > 200)
+ if(wait_iterator2 > 400)
staat2 = 2;
} else {
arm_begin();
@@ -511,7 +511,7 @@
wait_iterator2 = 0;
} else if(staat2 == 1) {
wait_iterator2++;
- if(wait_iterator2 > 200)
+ if(wait_iterator2 > 400)
staat2 = 2;
} else {
arm_begin();