Revision 101:b821e89fc108, committed 2015-10-22

Comitter:

annesteenbeek

Date:

Thu Oct 22 09:34:31 2015 +0000

Parent:

100:222c27f55b85

Child:

102:b3ab436fbe8e

Commit message:

working but possible motor1Bug;

Changed in this revision

--- a/actuators.cpp	Thu Oct 22 08:51:50 2015 +0000
+++ b/actuators.cpp	Thu Oct 22 09:34:31 2015 +0000
@@ -31,8 +31,8 @@
     double motor2PWM = 0;
 
     // Set PID values
-    double Kp1 = 1; 
-    double Ki1 = 0; 
+    double Kp1 = 0.008; 
+    double Ki1 = 0.08; 
     double Kd1 = 0;
 
     double Kp2 = 0.008; 
@@ -119,10 +119,9 @@
 
 void motorControl(){
     // EMG signals to motor speeds
-    const double scaleVel = 20;
-    motor1SetSpeed = x_velocity*scaleVel;
-    motor2SetSpeed = y_velocity*scaleVel;
-    servoSpeed = z_velocity*scaleVel;
+    motor1SetSpeed = x_velocity*2;
+    motor2SetSpeed = y_velocity*20;
+    servoSpeed = z_velocity*20;
 
     // get encoder positions in degrees
         // 131.25:1 gear ratio

--- a/buttons.cpp	Thu Oct 22 08:51:50 2015 +0000
+++ b/buttons.cpp	Thu Oct 22 09:34:31 2015 +0000
@@ -4,6 +4,8 @@
 #include "actuators.h"
 #include "PID.h"
 
+//#define TUNEPID // enable tuning PID parameters with potmeters
+//#define SETPOS // enable position tuning with potmeters
 // functions for reading all the buttons and switches 
 AnalogIn pot2(pot2Pin);
 AnalogIn pot1(pot1Pin);
@@ -47,10 +49,17 @@
 		button1Pressed = false;
 	}
 
-	#ifdef TUNEPID
-		setForPID(); // if TUNEPID is defined, use potmeters for PID tuning
-	#else
+//	#ifdef TUNEPID
+//		setForPID(); // if TUNEPID is defined, use potmeters for PID tuning
+//	#endif
+	#ifdef SETPOS
 		setForPositions(); // else use it for motor control
+	#else // still show that motors are enabled using RGB led
+		if(motorsEnable){
+			redLed.write(0); greenLed.write(0); blueLed.write(1);
+		}else{
+			redLed.write(1); greenLed.write(1); blueLed.write(1);
+		}
 	#endif
 }
 

--- a/debug.cpp	Thu Oct 22 08:51:50 2015 +0000
+++ b/debug.cpp	Thu Oct 22 09:34:31 2015 +0000
@@ -38,15 +38,15 @@
 #endif
 
 #ifdef TUNEEMG
-HIDScope    scope(5);                   // Number of scopes
+HIDScope    scope(6);                   // Number of scopes
 
 void debugProcess(){
-    scope.set(0,y_velocity);
-    scope.set(1,motor2SetSpeed);
-    scope.set(2,z_velocity);
-    scope.set(3,mode);
-    scope.set(4,DOF);
-    scope.set(5,motorsEnable);
+    scope.set(0,x_velocity);
+    scope.set(1,motor1SetSpeed);
+    scope.set(2,motor1Speed);
+    scope.set(3,motor1PWM);
+    scope.set(4,mode);
+    scope.set(5,DOF);
     scope.send();
 }
 #endif
\ No newline at end of file

--- a/debug.h	Thu Oct 22 08:51:50 2015 +0000
+++ b/debug.h	Thu Oct 22 09:34:31 2015 +0000
@@ -9,7 +9,12 @@
 extern double motor2Speed;
 extern double motor2Pos;
 extern double motor2PWM;
+extern double motor1SetSpeed;
+extern double motor1Speed;
+extern double motor1Pos;
+extern double motor1PWM;
 extern bool motorsEnable;
+
 extern int actuatorState;
 extern double prevTime;