BMT M9 Groep01 / Mbed 2 deprecated Robot2false

alles in elkaar met de mooie manier van de regelaar

Dependencies:   Encoder HIDScope MODSERIAL TouchButton mbed-dsp mbed

Fork of Robot2mooiemanier by BMT M9 Groep01

Files at this revision

API Documentation at this revision

Revision 20:99a8e9da2d6d, committed 2014-10-31

Comitter:
Tanja2211
Date:
Fri Oct 31 13:17:30 2014 +0000
Parent:
19:0754c9563e01
Child:
21:b7fb79882cb8
Commit message:
laatste commit voor emg uithalen voor testen;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Oct 31 11:10:47 2014 +0000
+++ b/main.cpp	Fri Oct 31 13:17:30 2014 +0000
@@ -382,13 +382,13 @@
                 motordir1 = 1;
                 stop = 0;
                 looptimer1.attach(motor1aansturing,TSAMP1);
-                wait(1); ////is aan te passen (tijd die nodig is om balletje te slaan
+                wait(5); ////is aan te passen (tijd die nodig is om balletje te slaan
                 looptimer1.detach();
                 pc.printf("detachMotor1\n");
                 
                 Ticker looptimer3;
                 looptimer3.attach(motor1aansturingdeel2,TSAMP1);
-                wait(1); ////is aan te passen (tijd die nodig is om balletje te slaan
+                wait(5); ////is aan te passen (tijd die nodig is om balletje te slaan
                 looptimer3.detach();
                 pc.printf("detachMotor1\n");
                 
@@ -473,9 +473,9 @@
     pc.printf("Moving average T %f\r\n",MOVAVG_T);
 
     //sturen naar HID Scope
-    scope.set(0,emg_valueT);        //ruwe data
+    /*scope.set(0,emg_valueT);        //ruwe data
     scope.set(1,filtered_emgT);     //filtered
-    scope.send();
+    scope.send();*/
 }
 
 void Biceps()
@@ -558,9 +558,9 @@
     pc.printf("Moving average B %f\r\n",MOVAVG_B);
 
     //naar HID Scope
-    scope.set(2,emg_valueB);        //ruwe data
+    /*scope.set(2,emg_valueB);        //ruwe data
     scope.set(3,filtered_emgB);     //filtered
-    scope.send();
+    scope.send();*/
 }
 
 void Calibratie_Triceps()
@@ -677,17 +677,17 @@
         toestand = WACHTEN;
         motor1.setPosition(0);
         pid(0,0,true); 
-        pc.printf("if1\n");
+        //pc.printf("if2\n");
     }
     if (toestand == TERUGKEREN) {
         new_pwm = pid(setspeed, motor1.getSpeed(),false); 
         pwm_motor1.write(new_pwm);
         motordir1 = 0;
-        pc.printf("motor gaat terugkeren\n\r");
-        pc.printf("new pwm %f\r\n",new_pwm);
+        
+        pc.printf("motor2.getPosition %d\r\n", motor2.getPosition());
     }
     if (toestand == WACHTEN) {
         pwm_motor1.write(0);
-        pc.printf("ifwachten\n");
+        //pc.printf("ifwachten2\n");
     }
 }
\ No newline at end of file