Arvid Keemink / Mbed 2 deprecated BMHaptics1

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Dependencies:   FastPWM MODSERIAL mbed QEI

Diff: main.cpp

Revision:
4:e8b3fba77dd0
Parent:
0:9cf3d3dc621b
--- a/main.cpp	Wed May 31 20:30:48 2017 +0000
+++ b/main.cpp	Wed May 30 09:44:15 2018 +0000
@@ -78,7 +78,7 @@
 
 //Virtual model properties
 const float virtualMass = 0.0015f;
-const float virtualStiffness = 50.0f;
+const float virtualStiffness = 0.0f;
 const float virtualDamping = 3.0f;
 const float springPos = 0.0f;
 
@@ -323,7 +323,7 @@
 inline void doStateOPAdmittance()
 {
     //Virtual Model
-    refAcc = force / virtualMass - virtualStiffness * (refPos - springPos) - virtualDamping * refVel;
+    refAcc = (force - virtualStiffness * (refPos - springPos) - virtualDamping * refVel) / virtualMass ;
     refVel += refAcc * LOOPDURATION;
     
     if (refVel > MAXVEL)