Diff: main.cpp

Revision:

2:b9a7fafd233c

Parent:

1:c18c171bf8b4

--- a/main.cpp	Tue Nov 05 10:14:49 2013 +0000
+++ b/main.cpp	Tue Nov 05 10:58:48 2013 +0000
@@ -26,14 +26,14 @@
 #define LP1 0.9868
 #define LP2 0.01325
 //EMG threshold
-#define SET_EMG_MAX1        3.8 //bovenarm rechts > beweging naar rechts
-#define SET_EMG_MIN1        2.3
-#define SET_EMG_MAX2        3.8 //bovenarm links  > beweging naar links
-#define SET_EMG_MIN2        0.7
-#define SET_EMG_MAX3        7.2 //onderarm rechts  > beweging naar boven
-#define SET_EMG_MIN3        2.6
-#define SET_EMG_MAX4        1.8 //onderarm links  > beweging naar onder
-#define SET_EMG_MIN4        0.8
+#define SET_EMG_MAX1        2.7 //bovenarm rechts > beweging naar rechts
+#define SET_EMG_MIN1        1.9
+#define SET_EMG_MAX2        2.7 //bovenarm links  > beweging naar links
+#define SET_EMG_MIN2        1.7
+#define SET_EMG_MAX3        3.0 //onderarm rechts  > beweging naar boven
+#define SET_EMG_MIN3        1.5
+#define SET_EMG_MAX4        6.0 //onderarm links  > beweging naar onder
+#define SET_EMG_MIN4        1.0
  
 void aansturing(void);
 void uitzetten(void);
@@ -362,7 +362,7 @@
             if (ButtonDOWN.read()==1)       //Misschien in de loop van 'aansturing' zetten????????????????????
             {
                 t_sol++;
-                if (t_sol>10)
+                if (t_sol>25)
                 {
                     if (sol_updown==0) 
                     {
@@ -482,10 +482,10 @@
                 if (EMGlp4 > CAL_EMG4_MAX) CAL_EMG4_MAX=EMGlp4;
                     
             }
-            EMGmin1= CAL_EMG1_MAX+0.15;
-            EMGmin2= CAL_EMG2_MAX+0.15;
-            EMGmin3= CAL_EMG3_MAX+0.15;
-            EMGmin4= CAL_EMG4_MAX+0.15;
+            EMGmin1= CAL_EMG1_MAX+0.35;
+            EMGmin2= CAL_EMG2_MAX+0.35;
+            EMGmin3= CAL_EMG3_MAX+0.35;
+            EMGmin4= CAL_EMG4_MAX+0.35;
             emg_value1min1=0.5;
             emg_value2min1=0.5;
             emg_value3min1=0.5; 
@@ -666,7 +666,7 @@
             emg_value4min1=0.5;
             EMGhp4min1=0.5; 
             EMGlp4min1=0.5; 
-            if ((EMGmax1-EMGmin1)<0.8 || (EMGmax2-EMGmin2)<0.8 || (EMGmax3-EMGmin3)<0.8 || (EMGmax4-EMGmin4)<0.8)
+            if ((EMGmax1-EMGmin1)<0.6 || (EMGmax2-EMGmin2)<0.6 || (EMGmax3-EMGmin3)<0.6 || (EMGmax4-EMGmin4)<0.6)
             {
                 lcd.cls();
                 lcd.printf("Calibration ...");
@@ -680,7 +680,7 @@
                 lcd.cls();
                 lcd.printf("Calibration ...");
                 lcd.locate(0,1);
-                lcd.printf("Done! Data Saved!");
+                lcd.printf("Done! Data Saved");
                 wait(1);
             
                 menu=0;
@@ -743,10 +743,10 @@
             
         //t_timer=t_timer+LOOPTIME;
         
-        //pc.printf("%.2f   ",v1);
-        //pc.printf("%.2f   ",v2);
-        //pc.printf("%.2f   ",v3);
-        //pc.printf("%.2f   ",v4);
+        pc.printf("%.2f   ",v1);
+        pc.printf("%.2f   ",v2);
+        pc.printf("%.2f   ",v3);
+        pc.printf("%.2f   ",v4);
         if(v1<=0.0 && v2<=0.0 && v3<=0.0 && v4<=0.0) {
             Solenoid=1;             //Pen van papier
             input=0.0;
@@ -951,7 +951,7 @@
     Brake1=0;
     Brake2=0;
     i_timer=300;
-    while(BeginM1 - motor1.getPosition() >= 10 || BeginM1 - motor1.getPosition() <= -10 || BeginM2 - motor2.getPosition() >= 10 || BeginM2 - motor2.getPosition() <= -10 || motor1.getSpeed()>=20 || motor2.getSpeed()>=20) 
+    while(BeginM1 - motor1.getPosition() >= 5 || BeginM1 - motor1.getPosition() <= -5 || BeginM2 - motor2.getPosition() >= 5 || BeginM2 - motor2.getPosition() <= -5 || motor1.getSpeed()>=20 || motor2.getSpeed()>=20) 
     {
         Ticker looptimer;
         looptimer.attach(setlooptimerflag,LOOPTIME); 
@@ -959,7 +959,7 @@
         looptimerflag = false;
         M1position=motor1.getPosition();
         M2position=motor2.getPosition();
-        pwm_to_motor1 = (BeginM1 - M1position)*.008;
+        pwm_to_motor1 = (BeginM1 - M1position)*.012;
         pwm_to_motor2 = (BeginM2 - M2position)*.008;
         keep_in_range(&pwm_to_motor1, -0.05,0.05);
         if(pwm_to_motor1 > 0)