BioRobotics / Mbed 2 deprecated includeair

The final program for the #include AIR robot

Dependencies:   Biquad HIDScope controlandadjust mbed QEI angleandposition

Files at this revision

API Documentation at this revision

Revision 47:29ea2915b811, committed 2015-11-02

Comitter:
Gerth
Date:
Mon Nov 02 15:39:16 2015 +0000
Parent:
46:c03f2c576630
Commit message:
ingeleverd

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r c03f2c576630 -r 29ea2915b811 main.cpp
--- a/main.cpp	Mon Nov 02 14:39:26 2015 +0000
+++ b/main.cpp	Mon Nov 02 15:39:16 2015 +0000
@@ -180,10 +180,10 @@
 //gather data and send to scope
 void scopedata(double wanted_y)
 {
-    scope.set(0,desired_position-anglepos.angletoposition(counttorad*encoder1.getPulses(),counttorad*encoder2.getPulses())); // desired x position
-    scope.set(1,wanted_y-anglepos.angletoposition_y(counttorad*encoder1.getPulses(),counttorad*encoder2.getPulses())); // desired y position
-    scope.set(2,error1*radtodeg); // filterded emg signal rigth arm
-    scope.set(3,error2*radtodeg); // filtered emg signal left arm
+    scope.set(0,desired_position); // desired x position
+    scope.set(1,wanted_y); // desired y position
+    scope.set(2,filteredsignal1); // filterded emg signal rigth arm
+    scope.set(3,filteredsignal2); // filtered emg signal left arm
     scope.set(4,threshold_value); // threshold value
     scope.set(5,mycontroller.motor1pwm()); //pwm signal send to motor 1
     scope.send(); // send info to HIDScope server