Diff: main.cpp

Revision:

1:8fb04c532736

Parent:

0:53c4dbb10a17

Child:

2:5f175018d1ff

--- a/main.cpp	Mon Nov 04 19:01:40 2013 +0000
+++ b/main.cpp	Mon Nov 04 20:38:22 2013 +0000
@@ -53,7 +53,7 @@
     /*floats van de filters van het emg*/
     pc.baud(115200);   // Defining the Baud rate for comunication with PC
     /*EMG Variables 1*/
-    float t
+    float t;
         t = 0;
     float hoek1, hoek2;
     hoek1 = 0;
@@ -239,8 +239,11 @@
 
         wait(Ts);
         /*Defining the direction of the Motor*/
-        emg_dir=f/*-ff; snelheid in de x richting. Of draaiing motor 1*/
-        emg_dir2=fff/*-ffff; /*snelheid in de y richting. Of draaiing motor2*/
+        emg_dir=f*3;/*-ff; snelheid in de x richting. Of draaiing motor 1*/
+        emg_dir2=ff*3;/*-ffff; snelheid in de y richting. Of draaiing motor2*/
+        
+        pc.printf("%f \n \r", emg_dir);
+        pc.printf("%f \n \r", emg_dir2);
         
         //omzetten naar hoeksnelheden
         //hoekV1 = emg_dir*29.5*cos(hoek2)-emg_dir2*29,5*sin(hoek2); //nu heb ik beide hoeksnelheden
@@ -343,7 +346,7 @@
             motordir2.write(0);
             }    
         //pwm_motor2.write(abs(pwm_to_motor2));
-        pwm_motor2.write(abs(pwm_to_motor2);
+        pwm_motor2.write(abs(pwm_to_motor2));
         //pc.printf("f:%f, emg_dir:%f, setpoint:%f, u:%f, pwm_to_motor:%d, motordir:%d \n \r",f,emg_dir,setpoint,u,pwm_to_motor,motordir.read());
     }
 }