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Moet dit er bij
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 12:55b76c319364
- Parent:
- 11:cd7be08f46b0
- Child:
- 13:41fc5b6262c0
--- a/main.cpp Tue Oct 29 20:57:56 2019 +0000 +++ b/main.cpp Tue Oct 29 21:00:06 2019 +0000 @@ -209,12 +209,6 @@ void RKI(){ if (motor_RKI==true){ - //Vy=potmeter1.read()*10.0*motortoggle; - //Vy=potmeter2.read()*10*motortoggle; - static float t=0; - Vx=6.0f*sin(1.0f*t); - Vy=0.0f; - t+=Ts; q1dot=(l2*cos(q1+q2)*Vx+l2*sin(q1+q2)*Vy)/((-l1*sin(q1)-l2*sin(q1+q2))*l2*cos(q1+q2)+l2*sin(q1+q2)*(l1*cos(q1)+l2*cos(q1+q2))); q2dot=((-l1*cos(q1)-l2*cos(q1+q2))*Vx+(-l1*sin(q1)-l2*sin(q1+q2))*Vy)/((-l1*sin(q1)-l2*sin(q1+q2))*l2*cos(q1+q2)+l2*sin(q1+q2)*(l1*cos(q1)+l2*cos(q1+q2))); q1=q1+q1dot*Ts; @@ -316,7 +310,7 @@ motor_state_changed = false; // More functions } - + motor_RKI=true; // Do nothing until end condition is met // State transition guard @@ -335,9 +329,11 @@ motor_state_changed = false; // More functions } - - motor_RKI=true; - + static float t=0; + Vx=6.0f*sin(1.0f*t); + Vy=0.0f; + t+=Ts; + if ( button2_pressed ) { button2_pressed = false; motor_RKI = false;