Diff: main.cpp

Revision:

23:7d83af123c43

Parent:

22:31065a83d9e8

Child:

25:734a26538711

Child:

27:eee900e0a47d

--- a/main.cpp	Mon Oct 29 12:21:26 2018 +0000
+++ b/main.cpp	Mon Oct 29 12:32:39 2018 +0000
@@ -38,43 +38,25 @@
 
 //Global variables/objects
 States current_state;
-<<<<<<< local
-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_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
-=======
 
 double des_vx, des_vy, x, y, q1, q2, qref1, qref2, e1, e2, u1, u2, raw_emg_0, process_emg_0, raw_emg_1, process_emg_1; //will be set by the motor_controller function
 double vxmax = 1.0, vymax = 1.0;
->>>>>>> other
+
 int counts_per_rotation = 32;
 bool state_changed = false;
-<<<<<<< local
-double x; // Making the position (x,y) of the end effector global
-double y;
-=======
 const double T = 0.001;
->>>>>>> other
+
 
 // Functions
 void measure_all() 
 {
-<<<<<<< local
-    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;
-    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
-    processed_emg_1 = processing_chain_emg(1);
-=======
+
     q1 = motor_1_encoder.getPulses()*2.0f*3.1415926535f/counts_per_rotation; //do this here, and not in the encoder interrupt, to reduce computational load
     q2 = motor_2_encoder.getPulses()*2.0f*3.1415926535f/counts_per_rotation;
     forwardkinematics_function(q1,q2,x,y);  //motor_angle is global, this function ne
     raw_emg_0 = emg0.read(); //sample analog voltages (all sampling theory applies, you might get aliasing etc.)
     raw_emg_1 = emg1.read();
     processing_chain_emg(raw_emg_0, raw_emg_1, process_emg_0, process_emg_1);  // processes the emg signals
->>>>>>> other
 }
 
 void output_all() {
@@ -117,13 +99,7 @@
             break;
         
         case operational:       //interpreting emg-signals to move the end effector
-            if (state_changed==true) { int x = 5; }
-            // example
-            reference_end_x = robot_end_x + processed_emg_0;
-            reference_end_y = robot_end_y + processed_emg_0;
-            
-<<<<<<< local
-=======
+                       
             // here we have to determine the desired velocity based on the processed emg signals and calibration
             if (process_emg_0 >= 0.16) { des_vx = vxmax; }
             else if(process_emg_0 >= 0.09) { des_vx = vxmax * 0.66; }
@@ -135,7 +111,6 @@
             else if(process_emg_1 >= 0.02) { des_vy = vymax * 0.33; }
             else { des_vy = 0; }
             
->>>>>>> other
             if (button.read() == true) { current_state = demo; }
             
             break;