Diff: main.cpp

Branch:

bla

Revision:

11:c8251a1362b7

Parent:

10:7339dca7d604

Parent:

9:8e1112874c12

Child:

12:3c47c7b1d1d7

diff -r 7339dca7d604 -r c8251a1362b7 main.cpp
--- a/main.cpp	Tue Oct 23 08:44:17 2018 +0000
+++ b/main.cpp	Tue Oct 23 08:48:06 2018 +0000
@@ -32,12 +32,13 @@
 //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 samplingfreq = 1000;
 double x; // Making the position (x,y) of the end effector global
 double y;
+const double T = 0.001;
 
 float processing_chain_emg(int num) {
     return 6.0;
@@ -69,6 +70,7 @@
             if (button.read()==true) 
             {
                 current_state = calib_enc; //the NEXT loop we will be in calib_enc state
+                // no state_changed action?
             }
             break; //to avoid falling through to the next state, although this can sometimes be very useful.