Diff: main.cpp

Revision:

19:6f720e4fcb47

Parent:

18:2b6f41f39a7f

Child:

20:ab391a133a01

diff -r 2b6f41f39a7f -r 6f720e4fcb47 main.cpp
--- a/main.cpp	Thu Nov 02 16:23:26 2017 +0000
+++ b/main.cpp	Fri Nov 03 09:47:09 2017 +0000
@@ -10,7 +10,7 @@
 
 // SERIAL COMMUNICATION WITH PC ////////////////////////////////////////////////
 MODSERIAL pc(USBTX, USBRX);
-HIDScope scope(4);
+//HIDScope scope(4);
  
 // STATES //////////////////////////////////////////////////////////////////////
 enum states{MOTORS_OFF, CALIBRATING, MOVING};
@@ -42,11 +42,11 @@
  
 // MOTOR CONTROL ///////////////////////////////////////////////////////////////
 Ticker controllerTicker;                                                        // Ticker for the controller
-const double controllerTs = 1/200.1;                                           // Time step for controllerTicker [s]
+const double controllerTs = 1/201.3;                                            // Time step for controllerTicker [s]
 const double motorRatio = 131.25;                                               // Ratio of the gearbox in the motors []
 const double radPerPulse = 2*pi/(32*motorRatio);                                // Amount of radians the motor rotates per encoder pulse [rad/pulse]
 volatile double xVelocity = 0, yVelocity = 0;                                   // X and Y velocities of the end effector at the start
-const double velocity = 0.03;                                                   // X and Y velocity of the end effector when desired
+const double velocity = 0.02;                                                   // X and Y velocity of the end effector when desired
  
 // MOTOR 1
 volatile double position1;                                                      // Position of motor 1 [rad]
@@ -83,7 +83,7 @@
 // EMG /////////////////////////////////////////////////////////////////////////
 Ticker emgLeft;                                                                 // Ticker for EMG of left arm
 Ticker emgRight;                                                                // Ticker for EMG of right arm
-const double emgTs = 0.491;                                                     // Time step for EMG sampling
+const double emgTs = 0.4993;                                                     // Time step for EMG sampling
 // Filters
 BiQuadChain bqc;                                                                
 BiQuad bq2_high(0.875182, -1.750364, 0.87518, -1.73472, 0.766004);              // High pass filter
@@ -108,7 +108,7 @@
 
 // PROCESS EMG SIGNALS ///////////////////////////////////////////////////////// 
 Ticker processTicker;                                                           // Ticker for processing of EMG
-const double processTs = 0.1;                                                   // Time step for processing of EMG
+const double processTs = 0.101;                                                   // Time step for processing of EMG
 
 volatile bool xdir = true, ydir = false;                                        // Direction the EMG signal moves the end effector
 volatile int count = 0;                                                         // Counter to change direction
@@ -339,8 +339,8 @@
 {
     if(currentState == MOVING)
     {
-        //position1 = radPerPulse * Encoder1.getPulses();
-        //position2 = radPerPulse * Encoder2.getPulses();
+        position1 = radPerPulse * Encoder1.getPulses();
+        position2 = radPerPulse * Encoder2.getPulses();
         
         if(active_l && active_r)                                                // If both left and right EMG are active for 1 second the direction of control changes
             {
@@ -551,7 +551,7 @@
     bqc.add(&bq1_low ).add(&bq2_high ).add(&bq3_notch );                        // Make BiQuad Chain
     
     processTicker.attach(&JointVelocities, processTs);                          // Ticker to process EMG
-    controllerTicker.attach(&MotorController, controllerTs);                   // Ticker to control motor 1 (PID)
+    controllerTicker.attach(&MotorController, controllerTs);                    // Ticker to control motor 1 (PID)
     emgRight.attach(&check_emg_r, emgTs);                                       // Ticker to sample EMG of right arm
     emgLeft.attach(&check_emg_l, emgTs);                                        // Ticker to sample EMG of left arm