Jesse Kaiser
/
Motorscript_Gr6
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: Encoder HIDScope MODSERIAL mbed-dsp mbed
Fork of
Lampje_EMG_Gr6
by 
Iris van Leeuwen
Revision 22:14f5161d7d7b, committed 2014-10-31
- Comitter:
- irisl
- Date:
- Fri Oct 31 16:21:39 2014 +0000
- Parent:
- 21:674fafb6301d
- Child:
- 23:94b5746e52f5
- Commit message:
- Werkt, motor aansturing met EMG
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Oct 31 16:01:22 2014 +0000
+++ b/main.cpp Fri Oct 31 16:21:39 2014 +0000
@@ -54,8 +54,8 @@
float pos_motor2_rad;
int staat1 = 0;
int staat2 = 0;
-float arm_hoogte;
-float batje_hoek;
+volatile float arm_hoogte = 0;
+volatile float batje_hoek = 0;
int wait_iterator1 = 0;
int wait_iterator2 = 0;
@@ -311,13 +311,13 @@
void batje_rechts ()
{
- speed1_rad = 3.0; //positief is CCW, negatief CW (boven aanzicht)
+ speed1_rad = 2.0; //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);
}
- if(setpoint1 < -(360*2.3*2.0*PI/360)) {
- setpoint1 = -(360*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);
}
pwm_motor1.write(abs(pwm1_percentage));
prev_setpoint1 = setpoint1;
@@ -331,11 +331,11 @@
{
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 > (0*2.3*2.0*PI/360)) { //setpoint in graden
+ setpoint1 = (0*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 < -(0*2.3*2.0*PI/360)) {
+ setpoint1 = -(0*2.3*2.0*PI/360);
}
prev_setpoint1 = setpoint1;
}
@@ -344,8 +344,8 @@
{
speed1_rad = -2.0; //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 > (0*2.3*2.0*PI/360)) { //setpoint in graden
+ setpoint1 = (0*2.3*2.0*PI/360);
}
if(setpoint1 < -(0.0*2.3*2.0*PI/360)) {
setpoint1 = -(0.0*2.3*2.0*PI/360);
@@ -373,14 +373,14 @@
{
speed2_rad = 6.0; //positief is CCW, negatief CW (boven aanzicht)
setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
- 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)) { //setpoint in graden
+ setpoint2 = (180.0*2.0*PI/360);
}
- if(setpoint2 < -(155.0*2.0*PI/360)) {
- setpoint2 = -(155.0*2.0*PI/360);
+ if(setpoint2 < -(180.0*2.0*PI/360)) {
+ setpoint2 = -(180.0*2.0*PI/360);
}
prev_setpoint2 = setpoint2;
- if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
+ if(setpoint2 >= (180.0*2.0*PI/360)-0.1) {
staat2 = 1;
}
}
@@ -389,14 +389,14 @@
{
speed2_rad = 6.0; //positief is CCW, negatief CW (boven aanzicht)
setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
- if(setpoint2 > (155.0*2.0*PI/360)) { //setpoint in graden
- setpoint2 = (155.0*2.0*PI/360);
+ if(setpoint2 > (90*2.0*PI/360)) { //setpoint in graden
+ setpoint2 = (90*2.0*PI/360);
}
- if(setpoint2 < -(155.0*2.0*PI/360)) {
- setpoint2 = -(155.0*2.0*PI/360);
+ if(setpoint2 < -(90.0*2.0*PI/360)) {
+ setpoint2 = -(90.0*2.0*PI/360);
}
prev_setpoint2 = setpoint2;
- if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
+ if(setpoint2 >= (90.0*2.0*PI/360)-0.1) {
staat2 = 1;
}
}
@@ -454,7 +454,7 @@
//STATES
- if (batje_hoek == 0) {
+ if (batje_hoek == 1) {
if(staat1 == 0) {
batje_rechts();
wait_iterator1 = 0;
@@ -467,7 +467,7 @@
}
}
- if (batje_hoek == 1) {
+ if (batje_hoek == 2) {
if(staat1 == 0) {
batje_links();
wait_iterator1 = 0;
@@ -481,7 +481,7 @@
}
- if(arm_hoogte == 0) {
+ if(arm_hoogte == 1) {
if(staat2 == 0) {
arm_laag();
wait_iterator2 = 0;
@@ -493,7 +493,7 @@
arm_begin();
}
}
- if(arm_hoogte == 1) {
+ if(arm_hoogte == 2) {
if(staat2 == 0) {
arm_mid();
wait_iterator2 = 0;
@@ -505,7 +505,7 @@
arm_begin();
}
}
- if(arm_hoogte == 2) {
+ if(arm_hoogte == 3) {
if(staat2 == 0) {
arm_hoog();
wait_iterator2 = 0;
@@ -567,7 +567,7 @@
stopblinkgreen();
pc.printf("ShineBlue.\n");
ShineBlue();
- batje_hoek = 1;
+ batje_hoek = 2;
wait(4);
break;
} else if (filtered_average_bi > 0.05 && filtered_average_del < 0.05)
@@ -576,7 +576,7 @@
stopblinkgreen();
pc.printf("ShineRed.\n");
ShineRed();
- batje_hoek = 0;
+ batje_hoek = 1;
wait (4);
break;
}
@@ -588,7 +588,7 @@
stopblinkgreen();
pc.printf("ShineGreen.\n");
ShineGreen();
- arm_hoogte = 2;
+ arm_hoogte = 3;
wait (4);
break;
}
@@ -596,7 +596,7 @@
stopblinkgreen();
pc.printf("ShineBlue.\n");
ShineBlue();
- arm_hoogte = 0;
+ arm_hoogte = 1;
wait(4);
break;
} else if (filtered_average_bi > 0.05 && filtered_average_del < 0.05)
@@ -605,7 +605,7 @@
stopblinkgreen();
pc.printf("ShineRed.\n");
ShineRed();
- arm_hoogte = 1;
+ arm_hoogte = 2;
wait (4);
break;
}