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 23:94b5746e52f5, committed 2014-10-31

Comitter:
irisl
Date:
Fri Oct 31 16:30:03 2014 +0000
Parent:
22:14f5161d7d7b
Child:
24:a61c2cadbd36
Commit message:
ook waardes ingevuld

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Oct 31 16:21:39 2014 +0000
+++ b/main.cpp	Fri Oct 31 16:30:03 2014 +0000
@@ -8,7 +8,7 @@
 #define TSAMP 0.005
 #define K_P1 (3.5) //voor motor1 is het 3.5
 #define K_I1 (0.01  *TSAMP) //voor motor1 is het 0.01
-#define K_P2 (3.5)
+#define K_P2 (0.7)
 #define K_I2 (0.01 *TSAMP)
 #define I_LIMIT 1.
 //#define PI 3.14159265
@@ -300,18 +300,18 @@
 {
     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 > (11.3*2.3*2.0*PI/360)) { //setpoint in graden
+        setpoint1 = (11.3*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 < -(11.3*2.3*2.0*PI/360)) {
+        setpoint1 = -(11.3*2.3*2.0*PI/360);
     }
     prev_setpoint1 = setpoint1;
 }
 
 void batje_rechts ()
 {
-    speed1_rad = 2.0; //positief is CCW, negatief CW (boven aanzicht)
+    speed1_rad = 1.0; //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);
@@ -342,7 +342,7 @@
 
 void batje_begin_rechts ()
 {
-    speed1_rad = -2.0; //positief is CCW, negatief CW (boven aanzicht)
+    speed1_rad = -1.0; //positief is CCW, negatief CW (boven aanzicht)
     setpoint1 = prev_setpoint1 + TSAMP * speed1_rad;
     if(setpoint1 > (0*2.3*2.0*PI/360)) { //setpoint in graden
         setpoint1 = (0*2.3*2.0*PI/360);
@@ -355,48 +355,48 @@
 
 void arm_hoog () //LET OP, PAS VARIABELE NOG AAN DIT IS VOOR TESTEN
 {
-    speed2_rad = 4.0; //positief is CCW, negatief CW (boven aanzicht)
+    speed2_rad = 6.0; //positief is CCW, negatief CW (boven aanzicht)
     setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
-    if(setpoint2 > (360.0*2.0*PI/360)) { //setpoint in graden
-        setpoint2 = (360.0*2.0*PI/360);
+    if(setpoint2 > (155.0*2.0*PI/360)) { //setpoint in graden
+        setpoint2 = (155.0*2.0*PI/360);
     }
-    if(setpoint2 < -(360.0*2.0*PI/360)) {
-        setpoint2 = -(360.0*2.0*PI/360);
+    if(setpoint2 < -(155.0*2.0*PI/360)) {
+        setpoint2 = -(155.0*2.0*PI/360);
     }
     prev_setpoint2 = setpoint2;
-    if(setpoint2 >= (360.0*2.0*PI/360)-0.1) {
+    if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
         staat2 = 1;
     }
 }
 
 void arm_mid ()
 {
-    speed2_rad = 6.0; //positief is CCW, negatief CW (boven aanzicht)
+    speed2_rad = 4.0; //positief is CCW, negatief CW (boven aanzicht)
     setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
-    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)) { //setpoint in graden
+        setpoint2 = (155.0*2.0*PI/360);
     }
-    if(setpoint2 < -(180.0*2.0*PI/360)) {
-        setpoint2 = -(180.0*2.0*PI/360);
+    if(setpoint2 < -(155.0*2.0*PI/360)) {
+        setpoint2 = -(155.0*2.0*PI/360);
     }
     prev_setpoint2 = setpoint2;
-    if(setpoint2 >= (180.0*2.0*PI/360)-0.1) {
+    if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
         staat2 = 1;
     }
 }
 
 void arm_laag ()
 {
-    speed2_rad = 6.0; //positief is CCW, negatief CW (boven aanzicht)
+    speed2_rad = 2.0; //positief is CCW, negatief CW (boven aanzicht)
     setpoint2 = prev_setpoint2 + TSAMP * speed2_rad;
-    if(setpoint2 > (90*2.0*PI/360)) { //setpoint in graden
-        setpoint2 = (90*2.0*PI/360);
+    if(setpoint2 > (155*2.0*PI/360)) { //setpoint in graden
+        setpoint2 = (155*2.0*PI/360);
     }
-    if(setpoint2 < -(90.0*2.0*PI/360)) {
-        setpoint2 = -(90.0*2.0*PI/360);
+    if(setpoint2 < -(155.0*2.0*PI/360)) {
+        setpoint2 = -(155.0*2.0*PI/360);
     }
     prev_setpoint2 = setpoint2;
-    if(setpoint2 >= (90.0*2.0*PI/360)-0.1) {
+    if(setpoint2 >= (155.0*2.0*PI/360)-0.1) {
         staat2 = 1;
     }
 }
@@ -460,7 +460,7 @@
             wait_iterator1 = 0;
         } else if(staat1 ==1) {
             wait_iterator1++;
-            if(wait_iterator1 > 600)
+            if(wait_iterator1 > 1000)
                 staat1 = 2;
         } else {
             batje_begin_rechts();
@@ -473,7 +473,7 @@
             wait_iterator1 = 0;
         } else if(staat1 ==1) {
             wait_iterator1++;
-            if(wait_iterator1 > 600)
+            if(wait_iterator1 > 1000)
                 staat1 = 2;
         } else {
             batje_begin_links ();
@@ -487,7 +487,7 @@
             wait_iterator2 = 0;
         } else if(staat2 == 1) {
             wait_iterator2++;
-            if(wait_iterator2 > 200)
+            if(wait_iterator2 > 400)
                 staat2 = 2;
         } else {
             arm_begin();
@@ -499,7 +499,7 @@
             wait_iterator2 = 0;
         } else if(staat2 == 1) {
             wait_iterator2++;
-            if(wait_iterator2 > 200)
+            if(wait_iterator2 > 400)
                 staat2 = 2;
         } else {
             arm_begin();
@@ -511,7 +511,7 @@
             wait_iterator2 = 0;
         } else if(staat2 == 1) {
             wait_iterator2++;
-            if(wait_iterator2 > 200)
+            if(wait_iterator2 > 400)
                 staat2 = 2;
         } else {
             arm_begin();