Group 9 BioRobotics / Mbed 2 deprecated the_code

The code without functions and variables filled in

Dependencies:   HIDScope Servo mbed QEI biquadFilter

Files at this revision

API Documentation at this revision

Revision 35:27418c5fefb9, committed 2018-11-06

Comitter:
s1574396
Date:
Tue Nov 06 15:47:28 2018 +0000
Parent:
34:23eedc10a4f7
Commit message:
Laatste toevoegingen

Changed in this revision

THE.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 23eedc10a4f7 -r 27418c5fefb9 THE.cpp
--- a/THE.cpp	Fri Nov 02 18:03:52 2018 +0000
+++ b/THE.cpp	Tue Nov 06 15:47:28 2018 +0000
@@ -134,8 +134,8 @@
 const double el_1 = 370.0 / 2.0; // radius of inner circle 
 const double el_2 = 65.0 / 2.0; // half length of pen holder 
 const double pi = 3.14159265359;
-const double alpha = (2.0 * pi) /(25.0*8400.0); 
-const double beta = (((2.0 * el_1) - (2.0 * el_2)) * 20.0 * pi) / (305.0 * 8400.0);
+const double alpha = (2.0 * pi) /(25.0*8400.0); //convertion factor from counts to rad
+const double beta = (((2.0 * el_1) - (2.0 * el_2)) * 20.0 * pi) / (305.0 * 8400.0); //convertion factor from counts to mm
 const double q1start = rotation_start_position * alpha;
 const double q2start = tower_1_position * beta; 
 const double q2end = tower_end_position * beta;