MorphGI / Mbed 2 deprecated LoCoMoTE_LowLevel_SyringePump_v7

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Dependencies:   mbed QEI FastAnalogIn mbed-rtos FastPWM

Files at this revision

API Documentation at this revision

Revision 4:3bab17dfae4e, committed 2019-01-30

Comitter:
dofydoink
Date:
Wed Jan 30 13:05:42 2019 +0000
Parent:
3:9bd35e5b05ba
Child:
5:4e710cef655e
Commit message:
CrashFree 30-01-2019;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Jan 29 14:57:57 2019 +0000
+++ b/main.cpp	Wed Jan 30 13:05:42 2019 +0000
@@ -168,7 +168,7 @@
 double dblErrorDot;
 
 //filter Variables
-int intPosFilOrder = 1;
+int intPosFilOrder = 0;
 int intVelFilOrder = 1;
 int intDemPosFilOrder = 6;
 int intDemVelFilOrder = 6;
@@ -523,7 +523,7 @@
         dblLinearPath = 0.0;
     }
     
-    dblPosD[intDemPosFilOrder] = 0.2*dblLinearPath + 0.8*dblPosD[intDemPosFilOrder];
+    dblPosD[intDemPosFilOrder] = 0.07*dblLinearPath + 0.93*dblPosD[intDemPosFilOrder];
     
     //make sure path is safe
     if (dblPosD[intDemPosFilOrder] > MAX_POSITION_MM) {