Eva Krolis
/
Kinematics
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Dependencies: MODSERIAL biquadFilter mbed
Fork of
Kinematics
by 
Ramon Waninge
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