Biorobotics 7 / Mbed 2 deprecated State_Machine

State machine

Dependencies:   mbed Adafruit_GFX BioroboticsMotorControl MODSERIAL BioroboticsEMGFilter

Diff: constants.h

Revision:
51:e0e4d7e3de93
Parent:
39:f119ca6fc821
--- a/constants.h	Mon Nov 05 10:14:31 2018 +0000
+++ b/constants.h	Mon Nov 05 16:03:39 2018 +0000
@@ -32,7 +32,7 @@
 const float L6 = 1.0;                       // Length beam between frame 0 and motor 1 [meter]
 
 // For inverse kinematics, maximum values for angles.
-const float max_r_angle = 2.96706; // If delta is larger than 175 degrees r is larger than this
+const float max_r_length = 0.2399; // If delta is too large the device will get stuck
 // Maximum and minimum angles of the main and secondary arm.
 const float main_arm_max_angle = 2.79253;
 const float main_arm_min_angle = main_motor_calibration_angle - 0.05;