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Dependencies: EMG1 PIDController1 compute mbed InBetweenController PinDetect QEI
Diff: main.cpp
- Revision:
- 4:e021dacffa24
- Parent:
- 3:0634f55c2021
- Child:
- 5:5339a7be9fb7
--- a/main.cpp Tue Oct 20 09:44:30 2015 +0000
+++ b/main.cpp Tue Oct 20 09:57:07 2015 +0000
@@ -5,8 +5,6 @@
// Define Objects
Ticker sample_timer;
-double lastA;
-double lastB;
void tick() {
// EMG Reader
@@ -15,13 +13,12 @@
double output2 = sample(2);
// In Between Controller
- double nexta, nextb;
- newPos(output0, output2, output2, lastA, lastB, nexta, nextb);
+ double lastA, lastB, nextA, nextB;
+ getCurrent(lastA, lastB);
+ newPos(output0, output2, output2, lastA, lastB, nextA, nextB);
- lastA = nexta;
- lastB = nextb;
-
- move(nexta,nextb);
+ // Rotate the motors
+ move(nextA,nextB);
}
int main()