Module 9 Super Team / Mbed 2 deprecated hookey_controller

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Dependencies:   EMG1 PIDController1 compute mbed InBetweenController PinDetect QEI

main.cpp

Committer:
AeroKev
Date:
2015-10-20
Revision:
3:0634f55c2021
Parent:
0:5f9d8f2142b6
Child:
4:e021dacffa24

File content as of revision 3:0634f55c2021:

#include "mbed.h"
#include "emg.h"
#include "inbetweencontroller.h"
#include "pidControl.h"

// Define Objects
Ticker      sample_timer;
double      lastA;
double      lastB;

void tick() {
    // EMG Reader
    double output0 = sample(0);
    double output1 = sample(1);
    double output2 = sample(2);
    
    // In Between Controller
    double nexta, nextb;
    newPos(output0, output2, output2, lastA, lastB, nexta, nextb);
    
    lastA = nexta;
    lastB = nextb;
    
    move(nexta,nextb);
}

int main()
{
    init();
    initialize();
    // Attach a timer to the function 'Sample' which fires every 0.002 seconds.
    sample_timer.attach(&tick, 0.002);
    
    while(1) { }
}