Biorobotics 7 / Mbed 2 deprecated State_Machine

State machine

Dependencies:   mbed Adafruit_GFX BioroboticsMotorControl MODSERIAL BioroboticsEMGFilter

Diff: end_effector_control.h

Revision:
50:5d2176b93a65
Parent:
32:b63b5837bcb1
--- a/end_effector_control.h	Mon Nov 05 05:59:14 2018 +0000
+++ b/end_effector_control.h	Mon Nov 05 10:14:31 2018 +0000
@@ -12,10 +12,10 @@
     
     forward_kinematics(main_current, sec_current, end_x, end_y);
     
-    end_x += move_x;
+    end_x += move_x;            // If EMG signals are received this is (+ or -) 0.01 meters
     end_y += move_y;
     
-    double main_potential_target, sec_potential_target;
+    double main_potential_target, sec_potential_target;     // Target if inverse kinematics does not give a NAN-value
     
     inverse_kinematics(end_x, end_y, main_potential_target, sec_potential_target);