Group 9 BioRobotics / Mbed 2 deprecated newRKI

RKI

Dependencies:   QEI mbed

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);
+        }
 }