Meike Froklage
backup
Dependencies: HIDScope MODSERIAL Motordriver QEI Servo mbed
Fork of
The_Claw_Back-up_Buttons_copy
by 
Meike Froklage
Revision 16:3c9a3ff09765, committed 2016-11-03
- Comitter:
- meikefrok
- Date:
- Thu Nov 03 16:50:49 2016 +0000
- Parent:
- 15:caf29b6f5261
- Commit message:
- the final, zeer mooi;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Nov 03 12:12:03 2016 +0000
+++ b/main.cpp Thu Nov 03 16:50:49 2016 +0000
@@ -24,7 +24,6 @@
// servo
Servo servo(D9);
-
HIDScope scope(2); //scope has two ports for the two EMG signals
//======== Miscellaneous =======================================================
@@ -67,7 +66,7 @@
int num_claw_turned_on_2 = 0; // count number of times blue LED turned on
// speed
-double cart_speed = 0.3;
+double cart_speed = 0.2;
double arm_speed = 0.1;
// position
@@ -172,10 +171,12 @@
double rlf_y;
double rrect_y;
+
// set the threshold value for the filtered signal
//if the signal exceeds this value the motors will start to rotate
-const double threshold_value= 0.08;
+const double threshold_value= 0.1;
const double threshold_value_claw= 0.08;
+const double threshold_value_cart=0.08;
@@ -287,12 +288,11 @@
rhf_y = biquad_rhf(rno2_y, rhf_v1, rhf_v2, rhf_a1, rhf_a2, rhf_b0, rhf_b1, rhf_b2);
rrect_y = fabs(rhf_y);
rlf_y = biquad_rlf(rrect_y, rlf_v1, rlf_v2, rlf_a1, rlf_a2, rlf_b0, rlf_b1, rlf_b2)/0.2;
- //scope.set(1, llf_y);
- //scope.set(0, rlf_y);
- //scope.send();
+ scope.set(1, llf_y);
+ scope.set(0, rlf_y);
+ scope.send();
}
-
//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
//======== Functions and main ==============================================================
void Measure(){
@@ -304,9 +304,9 @@
position_arm = (Encoder_Arm.getPulses()*factor_arm) ;
ain_arm = pot_arm.read();
- //if (ain_arm == 0){
- // Encoder_Arm.reset();
- //}else {}
+ if (ain_arm == 0){
+ Encoder_Arm.reset();
+ }else {}
@@ -323,45 +323,39 @@
if(led_r == LedOn){
num_turned_on_0++;
- if (rlf_y > threshold_value) {
+ if (rlf_y > threshold_value_cart) {
if(position_cart <= -170){ //If the cart is at the right side, it stops
Cart.stop(1)==1;
-
- }else if(position_cart <=100){
- Cart.speed(0.2)== 0.2;
-
- }else if(position_cart >= 150 && position_arm <=-45){ //If the cart is at the left side and the arm is rotated 60 degrees to the left, the cart can't move to the right.
+
+ }else if(position_cart >= 170 && position_arm <=-100){ //If the cart is at the left side and the arm is rotated 60 degrees to the left, the cart can't move to the right.
Cart.stop(1) == 1;
- }else if(position_cart >= 150 && position_arm <=-35 && position_claw == -18){
+ }else if(position_cart >= 170 && position_arm <=-160 && position_claw == -18){
Cart.stop(1) == 1;
}else{
Cart.speed(cart_speed)==cart_speed;
}
- if (llf_y > threshold_value){
+ if (llf_y > threshold_value_cart){
Cart.stop(1)==1;
}
- }else if (llf_y > threshold_value) {
- if(position_cart >= 150){ //If the cart is at the left side, it stops
+ }else if (llf_y > threshold_value_cart) {
+ if(position_cart >= 170){ //If the cart is at the left side, it stops
Cart.stop(1)==1;
-
- }else if(position_cart >=100){
- Cart.speed(-0.2)== -0.2;
-
- }else if(position_cart <= -170 && position_arm >=45){ //If the cart is at the left side and the arm is rotated 60 degrees to the left, the cart can't move to the right.
+
+ }else if(position_cart <= -170 && position_arm >=100){ //If the cart is at the left side and the arm is rotated 60 degrees to the left, the cart can't move to the right.
Cart.stop(1) == 1;
- }else if(position_cart <= -170 && position_arm >=35 && position_claw == 27){
+ }else if(position_cart <= -170 && position_arm >=160 && position_claw == 27){
Cart.stop(1)==1;
}else{
Cart.speed(-cart_speed)==-cart_speed;
}
- if (rlf_y > threshold_value){
+ if (rlf_y > threshold_value_cart){
Cart.stop(1)==1;
}
@@ -405,15 +399,18 @@
Arm.stop(1)==1;
- if (rlf_y > threshold_value) {
- if(position_cart > -105 && position_arm >= 95){ //If the cart is not at the end, the arm can't move any further than 45 degrees
+ if (rlf_y > threshold_value_claw) {
+ if(position_cart > -170 && position_arm >= 95){ //If the cart is not at the end, the arm can't move any further than 45 degrees
Arm.stop(1)==1;
- }else if(position_cart > -105 && position_arm >= 25 && position_claw == 27){
+ }else if(position_cart > -200 && position_arm >= 60 && position_claw == 27){
Arm.stop(1)==1;
- }else if(position_cart<= -105 && position_arm>=160){ //If the cart is at the right end, the arm can't move any further than 70 degrees
+ }else if(position_cart<= -170 && position_arm>=160){ //If the cart is at the right end, the arm can't move any further than 70 degrees
Arm.stop(1)==1;
+
+ }else if(position_cart <= -170 && position_arm >= 95){
+ Arm.speed(0.075)==0.075;
}else{
Arm.speed(arm_speed)==arm_speed;
@@ -423,16 +420,16 @@
Cart.stop(1)==1;
}
- }else if (llf_y > threshold_value) {
- if(position_cart < 105 && position_arm <= -95){ //If the cart is not at the end, the arm can't move any further than 45 degrees
+ }else if (llf_y > threshold_value_claw) {
+ if(position_cart < 170 && position_arm <= -95){ //If the cart is not at the end, the arm can't move any further than 45 degrees
Arm.stop(1)==1;
- }else if(position_cart < 105 && position_arm <= -25 && position_claw == -18){
+ }else if(position_cart < 170 && position_arm <= -60 && position_claw == -18){
Arm.stop(1)==1;
- }else if(position_cart>=105 && position_arm<=-160){ //If the cart is at the left end, the arm can't move any further than 70 degrees
+ }else if(position_cart>=170 && position_arm<=-160){ //If the cart is at the left end, the arm can't move any further than 70 degrees
Arm.stop(1)==1;
-
+
}else{
Arm.speed(-arm_speed)==-arm_speed;
}
@@ -603,7 +600,6 @@
tick_part_arm.attach(&SwitchArm,kTimeToggle);
tick_part_claw.attach(&SwitchClaw,0.1f);
measureTicker.attach(Measure, 0.005);
- sampleTicker_claw.attach(scopeSend,1);
sampleTicker.attach(scopeSend,0.01);