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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed Servo
Diff: main.cpp
- Revision:
- 7:b77f2201b156
- Parent:
- 5:0dd66c757f24
- Child:
- 8:bba05e863b68
--- a/main.cpp Mon Oct 22 19:13:37 2018 +0000 +++ b/main.cpp Tue Oct 23 05:28:32 2018 +0000 @@ -30,7 +30,7 @@ //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, motor_counts, q_ref; //will be set by the motor_controller function +double 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, motor_counts, q_ref; //will be set by the motor_controller function int counts_per_rotation = 32; bool state_changed = false; double x; // Making the position (x,y) of the end effector global