Diff: main.cpp

Revision:

46:c03f2c576630

Parent:

45:653370fa8b67

Child:

47:29ea2915b811

--- a/main.cpp	Mon Nov 02 13:14:59 2015 +0000
+++ b/main.cpp	Mon Nov 02 14:39:26 2015 +0000
@@ -180,10 +180,10 @@
 //gather data and send to scope
 void scopedata(double wanted_y)
 {
-    scope.set(0,desired_position); // desired x position
-    scope.set(1,wanted_y); // desired y position
-    scope.set(2,filteredsignal1); // filterded emg signal rigth arm
-    scope.set(3,filteredsignal2); // filtered emg signal left arm
+    scope.set(0,desired_position-anglepos.angletoposition(counttorad*encoder1.getPulses(),counttorad*encoder2.getPulses())); // desired x position
+    scope.set(1,wanted_y-anglepos.angletoposition_y(counttorad*encoder1.getPulses(),counttorad*encoder2.getPulses())); // desired y position
+    scope.set(2,error1*radtodeg); // filterded emg signal rigth arm
+    scope.set(3,error2*radtodeg); // filtered emg signal left arm
     scope.set(4,threshold_value); // threshold value
     scope.set(5,mycontroller.motor1pwm()); //pwm signal send to motor 1
     scope.send(); // send info to HIDScope server
@@ -294,7 +294,7 @@
         error2=(desired_angle2-counttorad*encoder2.getPulses());
 
         mycontroller.PID(error1,error2,Kp_shoot,Ki_shoot,Kd_shoot);;// send errors to controller
-        scopedata(y_during_punch);//send data to hidscope   WARING lower freqyency than normal
+        scopedata(y_during_punch);//send data to hidscope   WARING higher freqyency than normal
 
         time+=(Ts_control);// add time it should take to calculated time
         filtereverything(true);//set al filter variables to 0
@@ -328,7 +328,7 @@
         error2=(desired_angle2-counttorad*encoder2.getPulses());
 
         mycontroller.PID(error1,error2,Kp_shoot,Ki_shoot,Kd_shoot);;// send errors to controller
-        scopedata(y_during_punch);//send data to hidscope   WARING lower freqyency than normal
+        scopedata(y_during_punch);//send data to hidscope WARING higher freqyency than normal
 
         time+=(Ts_control);// add time it should take to calculated time
         filtereverything(false);//start filtering the signal (lower frewquency than normal)