Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

Diff: robot.cpp

Revision:
3:1f47375270c5
Parent:
2:fc869e45e672
Child:
7:a80cb6b06320
--- a/robot.cpp	Wed Nov 02 08:51:12 2016 +0000
+++ b/robot.cpp	Wed Nov 02 09:10:43 2016 +0000
@@ -42,7 +42,6 @@
 void Robot::doTick() {
     upperArm.update();
     lowerArm.update();
-    
 }
 
 void Robot::moveY(float dy) {
@@ -60,6 +59,14 @@
     upperArm.setVelocity(referenceVelocity);
 }
 
+float Robot::getUpperArmLength(){
+    return upperArm.getLength();
+}
+
+float Robot::getLowerArmLength(){
+    return lowerArm.getLength();    
+}
+
 // Set lower arm velocity (rad/s) (multiplied with -1 because for some reason the directions are different for the two arms)
 void Robot::setLowerArmVelocity(float referenceVelocity) {
     lowerArm.setVelocity(-1 * referenceVelocity);