Group 9 BioRobotics
/
newRKI
RKI
Diff: main.cpp
- Revision:
- 1:125af627e307
- Parent:
- 0:7789750c3b36
- Child:
- 2:d41aa6d0e3cc
--- a/main.cpp Wed Oct 31 10:40:46 2018 +0000 +++ b/main.cpp Wed Oct 31 13:10:55 2018 +0000 @@ -41,7 +41,7 @@ double a=out1()*20; return a;} double vdesy(){ - double a=out1()*20; + double a=out2()*20; return a;} double q1(){ double a=counts1()*alpha; @@ -85,8 +85,10 @@ pwmpin.period_us(60); while(1){ - start();} - + start(); + pc.printf("\r\n BOOM q2=%f \t dq2=%i \t dq1=%f \r\n MPe=%f \t vx=%f \t vy=%f \r\n counts1=%i \t counts2=%i \t out1=%f \t out2=%f \r\n",q2(),dq2(), dq1(), MPe(), vdesx(),vdesy(),counts1(),counts2(),out1(),out2()); + wait(delta_t); + } }