Diff: main.cpp

Branch:

bla

Revision:

12:3c47c7b1d1d7

Parent:

11:c8251a1362b7

--- a/main.cpp	Tue Oct 23 08:48:06 2018 +0000
+++ b/main.cpp	Tue Oct 23 10:47:19 2018 +0000
@@ -32,7 +32,7 @@
 //Global variables/objects
 States current_state;
 Ticker loop_ticker; //The Ticker object that will ensure perfect timing of our looping code
-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
+double x,y, qref1, qref2 ,e, e1, e2, u1, u2, emg_signal_raw_0, processed_emg_0, emg_signal_raw_1, processed_emg_1, robot_end_point, reference_end_point, motor_angle, q1, q2, motor_counts, q_ref; //will be set by the motor_controller function
 int counts_per_rotation = 32;
 bool state_changed = false;
 double samplingfreq = 1000;