Diff: main.cpp

Revision:

42:b9d26b1218b0

Parent:

41:55face19e06b

Child:

44:145827f5b091

--- a/main.cpp	Fri Oct 23 09:14:22 2015 +0000
+++ b/main.cpp	Fri Oct 23 09:33:28 2015 +0000
@@ -268,8 +268,8 @@
     red=1; green=1; blue=1;     //Make sure debug LEDs are off  
     
     //Set PwmOut frequency to 10k Hz
-    //pwm_motor1.period(0.0001);    
-    //pwm_motor2.period(0.0001);
+    pwm_motor1.period(0.001);    
+    pwm_motor2.period(0.001);
     
     clearTerminal();            //Clear the putty window
     
@@ -533,6 +533,7 @@
     //Mechanical limit 43 degrees -> 43*(4200/360) = 350
     theta2_cal = floor(theta2_lower * (4200/(2*PI)));
     Encoder2.setPulses(theta2_cal);       //edited QEI library: added setPulses()
+    
 }
     
 //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position.
@@ -574,6 +575,10 @@
     
     //pc.printf("Elbow Limit hit - shutting down motor 2. Current pulsecount: %i \r\n",Encoder1.getPulses());
     
+    //set reference position to mechanical limits
+    x = 0.2220;
+    y = 0.4088;
+
     wait(1);
     pc.printf("\n\r ------------------------ \n\r"); 
     pc.printf("Arm Calibration Complete\r\n");