BMT Module 9 Group 4 / Mbed 2 deprecated DemoState

DemoState with IK and MotorControl and input vx_des and vy_des with potmeter1 and button2

Dependencies:   FastPWM MODSERIAL Matrix MatrixMath mbed QEI

Diff: main.cpp

Revision:
7:fb3da4df4269
Parent:
6:a6f79f31767b
Child:
8:3d2228402c71
--- a/main.cpp	Sat Nov 03 13:52:22 2018 +0000
+++ b/main.cpp	Tue Nov 06 16:12:17 2018 +0000
@@ -84,10 +84,10 @@
 
 void ComputeJ(void)
 {
-    J1 = -sin(currentPosition1)/(L1*cos(currentPosition1)*sin(currentPosition2)-L1*cos(currentPosition2)*sin(currentPosition1));
-    J2 = cos(currentPosition2)/(L1*cos(currentPosition1)*sin(currentPosition2)-L1*cos(currentPosition2)*sin(currentPosition1));
-    J3 = (L1*sin(currentPosition1)+L2*sin(currentPosition2))/(L1*L2*cos(currentPosition1)*sin(currentPosition2)-L1*L2*cos(currentPosition2)*sin(currentPosition1));
-    J4 = -(L1*cos(currentPosition1)+L2*cos(currentPosition2))/(L1*L2*cos(currentPosition1)*sin(currentPosition2)-L1*L2*cos(currentPosition2)*sin(currentPosition1));
+    J1 = -sin(q1)/(L1*cos(q1)*sin(q2)-L1*cos(q2)*sin(q1));
+    J2 = cos(q2)/(L1*cos(q1)*sin(q2)-L1*cos(q2)*sin(q1));
+    J3 = (L1*sin(q1)+L2*sin(q2))/(L1*L2*cos(q1)*sin(q2)-L1*L2*cos(q2)*sin(q1));
+    J4 = -(L1*cos(q1)+L2*cos(q2))/(L1*L2*cos(q1)*sin(q2)-L1*L2*cos(q2)*sin(q1));
 }
 
 void ComputeV(void)