Biorobotics / Robot-Software

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Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed Servo

Diff: main.cpp

Revision:
44:25eec278c623
Parent:
43:8e2ea92fee01
Child:
45:829a3992d689
diff -r 8e2ea92fee01 -r 25eec278c623 main.cpp
--- a/main.cpp	Thu Nov 01 11:31:37 2018 +0000
+++ b/main.cpp	Thu Nov 01 12:39:24 2018 +0000
@@ -257,8 +257,8 @@
                 led_G = 0;
                 led_B = 1;
                 led_R = 1;
-                u1 = 0.2;
-                u2 = -0.65f;
+                //u1 = 0.2;
+                //u2 = -0.65f;
                 q1old = 0; 
                 q2old = 0;
             }
@@ -269,8 +269,8 @@
                     {
                         calib_enc_state = calib_enc_q1;
                         off_set_q2 = calib_q2 - q2;
-                        u2 = -0.4;
-                        u1 = -0.75;
+                        //u2 = -0.4;
+                        //u1 = -0.75;
                         state_timer.reset();
                         state_timer.start();
                     }    
@@ -285,7 +285,7 @@
                         current_state = calib_emg;
                         state_changed = true;
                         off_set_q1 = calib_q1 - q1;
-                        u1 = 0;
+                        //u1 = 0;
                         state_timer.reset();
                         state_timer.start();
                     }