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Dependencies: EMG1 PIDController1 compute mbed InBetweenController PinDetect QEI
Diff: main.cpp
- Revision:
- 18:ff312179cf44
- Parent:
- 17:b1d8c215b7ea
- Child:
- 19:7c356ec0fae0
--- a/main.cpp Thu Oct 29 17:47:35 2015 +0000
+++ b/main.cpp Fri Oct 30 09:49:12 2015 +0000
@@ -47,12 +47,12 @@
// Calculate the new position using the EMG output and the current position
bool pushing;
newPos(emg_out0, emg_out1, emg_out2, a, b, x, y, pushing);
- // pc2.printf("O0: %f | O1: %f | O2: %f\r\n",emg_out0, emg_out1, emg_out2);
Angles2Point(x,y,a,b);
-
- if (pushing)
+ if (pushing) {
motorSpeed = 1;
+ pc2.printf("X: %f | Y: %f\r\n",a,b);
+ }
else if(a < -20 || a > 20)
motorSpeed = 0.14;
else
@@ -93,7 +93,7 @@
return;
}
started = !started;
- if(started) {
+ if(!started) {
pc2.printf("Stopped\r\n");
go_motor = false;
PID_stop();