Diff: main.cpp

Revision:

37:3b9b18450612

Parent:

36:d6e0a835bb2d

Child:

38:c592354f5080

diff -r d6e0a835bb2d -r 3b9b18450612 main.cpp
--- a/main.cpp	Wed May 27 14:49:14 2015 +0000
+++ b/main.cpp	Wed May 27 14:55:50 2015 +0000
@@ -3,7 +3,7 @@
 #include "arm_math.h"
 #include "HIDScope.h"
 
-#define K_Gain      8      //Gain of the filtered EMG signal
+#define K_Gain      16      //Gain of the filtered EMG signal
 #define Damp        4       //Deceleration of the motor
 #define Mass        1       // Mass value
 #define dt          0.002   //Sample frequency
@@ -84,12 +84,19 @@
     acc = force/Mass;
     speed = speed_old + (acc * dt);
     D = speed * Damp;
+     if (speed > 1) {
+        speed = 1;
+        step_freq = setpoint; 
+        }
+        else {
     step_freq = (setpoint*speed);
+    }
     Step.period(1.0/step_freq);
     speed_old = speed;
+   
 
     if (step_freq < MIN_freq) {
-        Enable = 1;
+        Enable = 1; 
     } else {
         Enable = 0;
     }