Jesse Kaiser / Mbed 2 deprecated Motorscript_Gr6

Er is uitleg bijgeschreven en pwm_percentage heeft een andere naam

Dependencies:   Encoder HIDScope MODSERIAL mbed-dsp mbed

Fork of Lampje_EMG_Gr6 by Iris van Leeuwen

Files at this revision

API Documentation at this revision

Revision 27:691779624530, committed 2014-11-01

Comitter:
irisl
Date:
Sat Nov 01 13:43:21 2014 +0000
Parent:
26:9859a71456fd
Child:
28:c33a0658605e
Commit message:
beide motoren werken nu goed. Er zijn wat fouten uit het script gehaald. NU moet de hoek goed bepaald worden

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Sat Nov 01 12:52:52 2014 +0000
+++ b/main.cpp	Sat Nov 01 13:43:21 2014 +0000
@@ -71,7 +71,7 @@
 float lowpass_deltoid_states[4];
 arm_biquad_casd_df1_inst_f32 highnotch_biceps;
 arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
-//highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 49-51, Fs =500Hz, Gain = -3 dB (van Melvin)
+//highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB
 float highnotch_const[] = {0.9149684297741606, -1.8299368595483212, 0.9149684297741606, 1.8226935021735358, -0.8371802169231065 ,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
 //state values
 float highnotch_biceps_states[8];
@@ -403,7 +403,7 @@
 
 void arm_begin ()
 {
-    speed2_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht)
+    speed2_rad = 1.0; //positief is CCW, negatief CW (boven aanzicht)
     setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
     if(setpoint2 > (0.0*2.0*PI/360)) { //setpoint in graden
         setpoint2 = (0.0*2.0*PI/360);
@@ -460,37 +460,38 @@
             wait_iterator1 = 0;
         } else if(staat1 ==1) {
             wait_iterator1++;
-            if(wait_iterator1 > 1000)
+            if(wait_iterator1 > 400) {
                 staat1 = 2;
-        } else {
-            batje_begin_rechts();
+            
+                batje_begin_rechts();
+            }
         }
     }
-
     if (batje_hoek == 2) {
         if(staat1 == 0) {
             batje_links();
             wait_iterator1 = 0;
         } else if(staat1 ==1) {
             wait_iterator1++;
-            if(wait_iterator1 > 1000)
+            if(wait_iterator1 > 400) {
                 staat1 = 2;
-        } else {
-            batje_begin_links ();
+           
+                batje_begin_links ();
+            }
         }
     }
 
-
     if(arm_hoogte == 1) {
         if(staat2 == 0) {
             arm_laag();
             wait_iterator2 = 0;
         } else if(staat2 == 1) {
             wait_iterator2++;
-            if(wait_iterator2 > 400)
+            if(wait_iterator2 > 400) {
                 staat2 = 2;
-        } else {
-            arm_begin();
+            
+                arm_begin();
+            }
         }
     }
     if(arm_hoogte == 2) {
@@ -499,10 +500,11 @@
             wait_iterator2 = 0;
         } else if(staat2 == 1) {
             wait_iterator2++;
-            if(wait_iterator2 > 400)
+            if(wait_iterator2 > 400) {
                 staat2 = 2;
-        } else {
-            arm_begin();
+           
+                arm_begin();
+            }
         }
     }
     if(arm_hoogte == 3) {
@@ -511,14 +513,17 @@
             wait_iterator2 = 0;
         } else if(staat2 == 1) {
             wait_iterator2++;
-            if(wait_iterator2 > 400)
+            if(wait_iterator2 > 400) {
                 staat2 = 2;
-        } else {
-            arm_begin();
+            
+                arm_begin();
+            }
         }
     }
+
 }
 
+
 int main()
 {