Diff: main.cpp

Revision:

49:6515c045cfd6

Parent:

48:a1f97eb8c020

Child:

50:54f71544964c

diff -r a1f97eb8c020 -r 6515c045cfd6 main.cpp
--- a/main.cpp	Fri Oct 23 20:40:31 2015 +0000
+++ b/main.cpp	Fri Oct 23 21:09:32 2015 +0000
@@ -14,8 +14,8 @@
 #define     PI              3.14159265
 #define     SAMPLE_RATE     0.002   //500 Hz EMG sample rate
 #define     CONTROL_RATE    0.01    //100 Hz Control rate
-#define     ENCODER1_CPR    4200    //encoders have 64 (X4), 32 (X2) counts per revolution of motor shaft
-#define     ENCODER2_CPR    4200    //gearbox 1:131.25 ->  4200 counts per revolution of the output shaft (X2), 
+#define     ENCODER_CPR     4200     //both motor encoders have 64 (X4), 32 (X2) counts per revolution of motor shaft
+                                    //gearbox 1:131.25 ->  4200 counts per revolution of the output shaft (X2), 
 #define     PWM_PERIOD      0.0001  //10k Hz pwm motor frequency. Higher -> too hot, lower -> motor doesnt respond correctly
 /*--------------------------------------------------------------------------------------------------------------------
 ---- OBJECTS ---------------------------------------------------------------------------------------------------------
@@ -928,7 +928,7 @@
     
         
     //Current position - Encoder counts -> current angle -> Forward Kinematics 
-    rpc=(2*PI)/ENCODER1_CPR;               //radians per count (resolution) - 2pi divided by 4200
+    rpc=(2*PI)/ENCODER_CPR;                //radians per count (resolution) - 2pi divided by 4200
     theta1 = Encoder1.getPulses() * rpc;   //multiply resolution with number of counts to get current angles
     theta2 = Encoder2.getPulses() * rpc;
     current_x = l1 * cos(theta1) + l2 * cos(theta1 + theta2);   //Forward kinematics for current position