De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 56:3f29502fcb55
- Parent:
- 55:a4e63ef1587c
- Child:
- 57:d0d65376140f
diff -r a4e63ef1587c -r 3f29502fcb55 main.cpp --- a/main.cpp Thu Oct 31 21:59:02 2019 +0000 +++ b/main.cpp Thu Oct 31 23:24:53 2019 +0000 @@ -1010,13 +1010,19 @@ // Do stuff until end condition is met static float t = 0.0; - Vy = 10.0f * sin(1.0f*t); - Vx = 0.0f; + Vy = 15.0f * sin(1.5f*t); + Vx = 0.0f * sin(1.5f*t); t += Ts; PID_controller(); motorControl(); RKI(); + + scope.set(0, motor2_ref * rad2deg ); + scope.set(1, motor2_angle * rad2deg ); + //scope.set(2, motor2_ref ); + //scope.set(3, motor2_angle ); + scope.send(); // State transition guard if ( button1_pressed == true ) { // demo_wait @@ -1109,10 +1115,7 @@ // Do stuff until end condition is met demo_state_machine(); - scope.set(0, emg1 ); - scope.set(1, Vx ); - scope.set(2, emg2 ); - scope.set(3, Vy ); + // State transition guard if ( switch2_pressed == true ) {