Iris van Leeuwen / Mbed 2 deprecated Lampje_EMG_Gr6

2 losse EMG signalen van de biceps en deltoid

Dependencies:   HIDScope MODSERIAL mbed-dsp mbed Encoder

Fork of Lampje_EMG_Gr6 by Jesse Kaiser

Files at this revision

API Documentation at this revision

Revision 22:14f5161d7d7b, committed 2014-10-31

Comitter:
irisl
Date:
Fri Oct 31 16:21:39 2014 +0000
Parent:
21:674fafb6301d
Child:
23:94b5746e52f5
Commit message:
Werkt, motor aansturing met EMG

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Oct 31 16:01:22 2014 +0000
+++ b/main.cpp	Fri Oct 31 16:21:39 2014 +0000
@@ -54,8 +54,8 @@
 float pos_motor2_rad;
 int staat1 = 0;
 int staat2 = 0;
-float arm_hoogte;
-float batje_hoek;
+volatile float arm_hoogte = 0;
+volatile float batje_hoek = 0;
 int wait_iterator1 = 0;
 int wait_iterator2 = 0;
 
@@ -311,13 +311,13 @@
 
 void batje_rechts ()
 {
-    speed1_rad = 3.0; //positief is CCW, negatief CW (boven aanzicht)
+    speed1_rad = 2.0; //positief is CCW, negatief CW (boven aanzicht)
     setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
     if(setpoint1 > (11.3*2.3*2.0*PI/360)) { //setpoint in graden
         setpoint1 = (11.3*2.3*2.0*PI/360);
     }
-    if(setpoint1 < -(360*2.3*2.0*PI/360)) {
-        setpoint1 = -(360*2.3*2.0*PI/360);
+    if(setpoint1 < -(11.3*2.3*2.0*PI/360)) {
+        setpoint1 = -(11.3*2.3*2.0*PI/360);
     }
     pwm_motor1.write(abs(pwm1_percentage));
     prev_setpoint1 = setpoint1;
@@ -331,11 +331,11 @@
 {
     speed1_rad = 1.0; //positief is CCW, negatief CW (boven aanzicht)
     setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
-    if(setpoint1 > (180*2.3*2.0*PI/360)) { //setpoint in graden
-        setpoint1 = (180*2.3*2.0*PI/360);
+    if(setpoint1 > (0*2.3*2.0*PI/360)) { //setpoint in graden
+        setpoint1 = (0*2.3*2.0*PI/360);
     }
-    if(setpoint1 < -(180*2.3*2.0*PI/360)) {
-        setpoint1 = -(180*2.3*2.0*PI/360);
+    if(setpoint1 < -(0*2.3*2.0*PI/360)) {
+        setpoint1 = -(0*2.3*2.0*PI/360);
     }
     prev_setpoint1 = setpoint1;
 }
@@ -344,8 +344,8 @@
 {
     speed1_rad = -2.0; //positief is CCW, negatief CW (boven aanzicht)
     setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
-    if(setpoint1 > (180*2.3*2.0*PI/360)) { //setpoint in graden
-        setpoint1 = (180*2.3*2.0*PI/360);
+    if(setpoint1 > (0*2.3*2.0*PI/360)) { //setpoint in graden
+        setpoint1 = (0*2.3*2.0*PI/360);
     }
     if(setpoint1 < -(0.0*2.3*2.0*PI/360)) {
         setpoint1 = -(0.0*2.3*2.0*PI/360);
@@ -373,14 +373,14 @@
 {
     speed2_rad = 6.0; //positief is CCW, negatief CW (boven aanzicht)
     setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
-    if(setpoint2 > (155.0*2.0*PI/360)) { //setpoint in graden
-        setpoint2 = (155.0*2.0*PI/360);
+    if(setpoint2 > (180.0*2.0*PI/360)) { //setpoint in graden
+        setpoint2 = (180.0*2.0*PI/360);
     }
-    if(setpoint2 < -(155.0*2.0*PI/360)) {
-        setpoint2 = -(155.0*2.0*PI/360);
+    if(setpoint2 < -(180.0*2.0*PI/360)) {
+        setpoint2 = -(180.0*2.0*PI/360);
     }
     prev_setpoint2 = setpoint2;
-    if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
+    if(setpoint2 >= (180.0*2.0*PI/360)-0.1) {
         staat2 = 1;
     }
 }
@@ -389,14 +389,14 @@
 {
     speed2_rad = 6.0; //positief is CCW, negatief CW (boven aanzicht)
     setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
-    if(setpoint2 > (155.0*2.0*PI/360)) { //setpoint in graden
-        setpoint2 = (155.0*2.0*PI/360);
+    if(setpoint2 > (90*2.0*PI/360)) { //setpoint in graden
+        setpoint2 = (90*2.0*PI/360);
     }
-    if(setpoint2 < -(155.0*2.0*PI/360)) {
-        setpoint2 = -(155.0*2.0*PI/360);
+    if(setpoint2 < -(90.0*2.0*PI/360)) {
+        setpoint2 = -(90.0*2.0*PI/360);
     }
     prev_setpoint2 = setpoint2;
-    if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
+    if(setpoint2 >= (90.0*2.0*PI/360)-0.1) {
         staat2 = 1;
     }
 }
@@ -454,7 +454,7 @@
 
     //STATES
 
-    if (batje_hoek == 0) {
+    if (batje_hoek == 1) {
         if(staat1 == 0) {
             batje_rechts();
             wait_iterator1 = 0;
@@ -467,7 +467,7 @@
         }
     }
 
-    if (batje_hoek == 1) {
+    if (batje_hoek == 2) {
         if(staat1 == 0) {
             batje_links();
             wait_iterator1 = 0;
@@ -481,7 +481,7 @@
     }
 
 
-    if(arm_hoogte == 0) {
+    if(arm_hoogte == 1) {
         if(staat2 == 0) {
             arm_laag();
             wait_iterator2 = 0;
@@ -493,7 +493,7 @@
             arm_begin();
         }
     }
-    if(arm_hoogte == 1) {
+    if(arm_hoogte == 2) {
         if(staat2 == 0) {
             arm_mid();
             wait_iterator2 = 0;
@@ -505,7 +505,7 @@
             arm_begin();
         }
     }
-    if(arm_hoogte == 2) {
+    if(arm_hoogte == 3) {
         if(staat2 == 0) {
             arm_hoog();
             wait_iterator2 = 0;
@@ -567,7 +567,7 @@
                         stopblinkgreen();
                         pc.printf("ShineBlue.\n");
                         ShineBlue();
-                        batje_hoek = 1;
+                        batje_hoek = 2;
                         wait(4);
                         break;
                     } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.05)
@@ -576,7 +576,7 @@
                         stopblinkgreen();
                         pc.printf("ShineRed.\n");
                         ShineRed();
-                        batje_hoek = 0;
+                        batje_hoek = 1;
                         wait (4);
                         break;
                     }
@@ -588,7 +588,7 @@
                         stopblinkgreen();
                         pc.printf("ShineGreen.\n");
                         ShineGreen();
-                        arm_hoogte = 2;
+                        arm_hoogte = 3;
                         wait (4);
                         break;
                     }
@@ -596,7 +596,7 @@
                         stopblinkgreen();
                         pc.printf("ShineBlue.\n");
                         ShineBlue();
-                        arm_hoogte = 0;
+                        arm_hoogte = 1;
                         wait(4);
                         break;
                     } else if (filtered_average_bi > 0.05 && filtered_average_del < 0.05)
@@ -605,7 +605,7 @@
                         stopblinkgreen();
                         pc.printf("ShineRed.\n");
                         ShineRed();
-                        arm_hoogte = 1;
+                        arm_hoogte = 2;
                         wait (4);
                         break;
                     }