Projectgroep 20 Biorobotics / Mbed 2 deprecated DEMO_en_autodemo

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Dependencies:   Encoder MODSERIAL mbed

Fork of DEMO by Annelotte Bex

Diff: main.cpp

Revision:
6:9943f69ff668
Parent:
5:9651c3f7602b
Child:
7:1d3eefa00e20
--- a/main.cpp	Thu Nov 02 11:47:56 2017 +0000
+++ b/main.cpp	Thu Nov 02 13:09:51 2017 +0000
@@ -66,7 +66,7 @@
     
     
     Motor1Set = (q1/(2*pi))*maxwaarde;           //Calculate the desired motor1 angle from the desired joint positions
-    Motor2Set = ((pi-q2-q1)/(2*pi))*maxwaarde;   //Calculate the desired motor2 angle from the desired joint positions
+    Motor2Set = -((pi-q2-q1)/(2*pi))*maxwaarde;   //Calculate the desired motor2 angle from the desired joint positions
     
     pc.printf("waarde p = %f, waarde pp = %f, a= %f, aa = %f, bb = %f, cc = %f \r\n",p,pp,a,aa,bb,cc);
     //pc.printf("q1 = %f, q2 = %f, Motor1Set = %f, Motor2Set = %f \r\n", q1, q2, Motor1Set, Motor2Set);
@@ -177,11 +177,11 @@
 {
     if (motorValue2 >= 0)
     {
-        M2D = 0;
+        M2D = 1;
     }
     else 
     {
-        M2D = 1;
+        M2D = 0;
     }
 
     if  (fabs(motorValue2) > 1)