Biorobotics 7 / Mbed 2 deprecated Motor_calibration

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Dependencies:   BioroboticsMotorControl mbed BioroboticsEMGFilter MODSERIAL

Files at this revision

API Documentation at this revision

Revision 3:5b8a12611a1e, committed 2018-10-31

Comitter:
MAHCSnijders
Date:
Wed Oct 31 10:38:04 2018 +0000
Parent:
2:9d23d93d097f
Child:
4:64d4fdf5437c
Commit message:
With new definitions of home state (correct angles for IK and FK)

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Oct 31 10:16:56 2018 +0000
+++ b/main.cpp	Wed Oct 31 10:38:04 2018 +0000
@@ -35,7 +35,7 @@
     
     if (time_passed_in_this_state1 >= 10)           // After 5 seconds have passed (10 times Ticker motor_calib)
     {
-        motor1.set_current_angle_as_zero();
+        motor1.define_current_angle_as_x_radians(0.785398); // Defines beginstate motor 2 as -42 degrees
         calibLED1 = 0;                              // LED becomes blue (purple if both motors are calibrated)
     }
 }
@@ -56,7 +56,7 @@
     
     if (time_passed_in_this_state2 >= 10)           // After 5 seconds have passed (10 times Ticker motor_calib)
     {
-        motor2.set_current_angle_as_zero();
+        motor2.define_current_angle_as_x_radians(-0.733038); // Defines beginstate motor 2 as -42 degrees
         calibLED2 = 0;                              // LED becomes red (purple if both motors are calibrated)
     }
 }