Oud verslag voor Biquad.
Dependencies: Biquad HIDScope QEI angleandposition controlandadjust mbed
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Revision 47:29ea2915b811, committed 2015-11-02
- Comitter:
- Gerth
- Date:
- Mon Nov 02 15:39:16 2015 +0000
- Parent:
- 46:c03f2c576630
- Commit message:
- ingeleverd
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r c03f2c576630 -r 29ea2915b811 main.cpp --- a/main.cpp Mon Nov 02 14:39:26 2015 +0000 +++ b/main.cpp Mon Nov 02 15:39:16 2015 +0000 @@ -180,10 +180,10 @@ //gather data and send to scope void scopedata(double wanted_y) { - 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(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(4,threshold_value); // threshold value scope.set(5,mycontroller.motor1pwm()); //pwm signal send to motor 1 scope.send(); // send info to HIDScope server