Diff: main.cpp

Revision:

21:73e1cc927968

Parent:

20:11fe0aa7f111

Child:

24:e166f8119dbb

--- a/main.cpp	Wed Oct 31 21:00:51 2018 +0000
+++ b/main.cpp	Thu Nov 01 08:42:44 2018 +0000
@@ -25,13 +25,12 @@
 const int Length = 10000;                                       //Length of the array for the calibration
 const int Parts = 50;                                           //Mean average filter over 50 values
 
-
 //parameters for kinematics
 double theta1 = PI*0.49;                                        //Angle of the left motor
 double theta4 = PI*0.49;                                        //Angle of the right motor
 double thetaflip = 0;                                           //Angle of the flipping motor
-double prefx;                                                   //Desired x coordinate
-double prefy;                                                   //Desired y coordinate                                                        "
+double prefx;                                                   //Desired x velocity
+double prefy;                                                   //Desired y velocity                                                        "
 double deltat = 0.01;                                           //Time step (dependent on sample frequency)
 
 //Kinematics parameters for x
@@ -408,7 +407,7 @@
 int main()
 {
     //Initial conditions
-    theta1 = PI*0.49;                                        //Angle of the left motor
+    theta1 = PI*0.49;                                           //Angle of the left motor
     theta4 = PI*0.49;
     pc.baud(115200);
     greenled = 1;                                               //First turn the LEDs off