Jesse Kaiser / Mbed 2 deprecated EMGcontrol_XY_Table

4 directional EMG control of the XY table. Made during my bachelor end assignment.

Dependencies:   C12832_lcd HIDScope mbed-dsp mbed

Files at this revision

API Documentation at this revision

Revision 43:42bfab67c4a5, committed 2015-06-04

Comitter:
jessekaiser
Date:
Thu Jun 04 14:34:04 2015 +0000
Parent:
42:e67627d11789
Child:
44:d5aa53e4778c
Commit message:
Aansturing motor 2 emg signalen;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Jun 03 14:26:56 2015 +0000
+++ b/main.cpp	Thu Jun 04 14:34:04 2015 +0000
@@ -109,7 +109,7 @@
     step_freq1 = (setpoint*speed1);
     speed_old1 = speed1;
     
-    //Achteruit
+    //Achteruit triceps
     force2 = K_Gain*(filtered_triceps/MAX_tri);
     force2 = force2 - damping2;
     acc2 = force2/Mass;
@@ -117,14 +117,15 @@
     damping2 = speed2 * Damp;
     step_freq2 = (setpoint*speed2);
     speed_old2 = speed2;
-
     if (filtered_biceps > filtered_triceps) {
         Dir = 0;
-        step_freq2 = 1;
+        speed2 = 0.01;
+        speed_old2 = 0.01;
         Step.period(1.0/step_freq1);
     } if (filtered_triceps > filtered_biceps) {
         Dir = 1;
-        step_freq1 = 1; 
+        speed1 = 0.01;
+        speed_old1 = 0.01;  
         Step.period(1.0/step_freq2);
     }
     //Speed limit
@@ -132,13 +133,13 @@
         speed1 = 1;
         step_freq1 = setpoint;
     }
-    if (speed2 > 2) {
+    if (speed2 > 1) {
         speed2 = 1;
-        step_freq1 = setpoint;
+        step_freq2 = setpoint;
     }
     //EMG treshold
     if (filtered_biceps < EMG_tresh && filtered_triceps < EMG_tresh) {
-        Enable = 1;
+        Enable = 1; //Enable = 1 turns the motor off. 
     } else {
         Enable = 0;
     }