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Dependencies: HIDScope MODSERIAL PID QEI biquadFilter mbed
Fork of
cpfromralph1
by 
Remi van Veen
Revision 45:d257047912c1, committed 2017-11-03
- Comitter:
- Revave
- Date:
- Fri Nov 03 05:29:36 2017 +0000
- Parent:
- 44:8872b20bc1bd
- Commit message:
- fafsf
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 8872b20bc1bd -r d257047912c1 main.cpp
--- a/main.cpp Fri Nov 03 04:26:04 2017 +0000
+++ b/main.cpp Fri Nov 03 05:29:36 2017 +0000
@@ -30,6 +30,10 @@
DigitalOut green(LED_GREEN);
Serial pc(USBTX, USBRX);
+
+double original_angle1 = 2.35;
+double original_angle2 = 0.785;
+
// EMG Variables & Constants
//Right Biceps
double emg1;
@@ -142,8 +146,8 @@
//float MV2 = 0;
double count1 = 0;
double count2 = 0;
- double angle1 = 2.35;
- double angle2 = 0.785;
+ double angle1;
+ double angle2;
// BiQuad Filter Settings
// Right Biceps
@@ -692,8 +696,9 @@
encoders();
double count1;
double count2;
- angle1 += (0.0981 * count1);
- angle2 += (0.0981 * count2);
+ pc.printf("\n\rcount1=%i count2=%i\r",count1,count2);
+ angle1 = original_angle1 + (0.000747998251 * count1);
+ angle2 = original_angle2 + (0.000747998251 * count2);
if (angle1<setpoint1 && angle2<setpoint2) {
pc.printf("\n\rangle1<setpoint1 && angle2<setpoint2\r");
motor1direction = 1; // counterclockwise rotation
@@ -718,6 +723,7 @@
pc.printf("\n\rdit noem ik maar 1\r");
motor1pwm = 0.2;
motor2pwm = 0.2;
+ pc.printf("\n\rangle1=%d angle2=%d setpoint1=%d setpoint2=%d\r",angle1,angle2,setpoint1,setpoint2);
}
else if ((angle1<setpoint1 || angle1>setpoint1) && (angle2 == setpoint2)) {
pc.printf("\n\rdit noem ik maar 2\r");