Diff: main.cpp

Revision:

20:31876566d70f

Parent:

19:e1e18746d98d

Child:

22:31065a83d9e8

--- a/main.cpp	Fri Oct 26 11:04:30 2018 +0000
+++ b/main.cpp	Fri Oct 26 12:59:52 2018 +0000
@@ -32,10 +32,9 @@
 //Global variables/objects
 States current_state;
 Ticker loop_ticker; //The Ticker object that will ensure perfect timing of our looping code
-float e, u1, u2, emg_signal_raw_0, processed_emg_0, emg_signal_raw_1, processed_emg_1, robot_end_point, reference_end_point, motor_angle_1, motor_angle_2, motor_counts, q_ref; //will be set by the motor_controller function
+float e, u1, u2, emg_signal_raw_0, processed_emg_0, emg_signal_raw_1, processed_emg_1, robot_end_x, robot_end_y, reference_end_x, reference_end_y, motor_angle_1, motor_angle_2, motor_counts_1, motor_counts_2, q_ref_1, q_ref_2; //will be set by the motor_controller function
 int counts_per_rotation = 32;
 bool state_changed = false;
-double samplingfreq = 1000;
 double x; // Making the position (x,y) of the end effector global
 double y;
 
@@ -47,7 +46,8 @@
 {
     motor_angle_1 = motor_counts_1*2.0f*3.1415926535f/counts_per_rotation; //do this here, and not in the encoder interrupt, to reduce computational load
     motor_angle_2 = motor_counts_2*2.0f*3.1415926535f/counts_per_rotation;
-    robot_end_point = forwardkinematics_function(motor_angle_1,motor_angle_2);  //motor_angle is global, this function ne
+    forwardkinematics_function(motor_angle_1,motor_angle_2);  //motor_angle is global, this function ne
+    
     emg_signal_raw_0 = emg0.read(); //sample analog voltages (all sampling theory applies, you might get aliasing etc.)
     emg_signal_raw_1 = emg1.read();
     processed_emg_0 = processing_chain_emg(0);  // some function ‘float my_emg_processing_chain()’ that returns a float. The raw emg is global
@@ -95,7 +95,9 @@
         case operational:       //interpreting emg-signals to move the end effector
             if (state_changed==true) { int x = 5; }
             // example
-            reference_end_point = robot_end_point + processed_emg_0;
+            reference_end_x = robot_end_x + processed_emg_0;
+            reference_end_y = robot_end_y + processed_emg_0;
+            
             if (button.read() == true) { current_state = demo; }
             
             break;