Diff: main.cpp

Revision:

10:8c38a1a5b522

Parent:

9:e8cc37a94fec

Child:

12:f4331640e3ad

--- a/main.cpp	Mon Oct 21 12:17:39 2019 +0000
+++ b/main.cpp	Mon Oct 21 12:44:20 2019 +0000
@@ -23,8 +23,8 @@
 MODSERIAL pc(USBTX, USBRX);
 QEI Encoder(D8,D9,NC,8400);
 
-float PI = 3.1415926;//535897932384626433832795028841971693993;
-float timeinterval = 0.001;         // Time interval of the Ticker function
+float PI = 3.1415926f;//535897932384626433832795028841971693993;
+float timeinterval = 0.001f;         // Time interval of the Ticker function
 bool whileloop = true;              // Statement to keep the whileloop in the main function running
                                     // While loop has to stop running when failuremode is activated
 
@@ -40,7 +40,7 @@
 
 void motorsoff() {
     bool aa = true;                                 // Boolean for the while loop
-    sendtomotor(0);
+    sendtomotor(0.0f);
     while (aa) {
         if (button1.read() == 0) {                  // If button1 is pressed, set MyState to EMG_CALIBRATION and exit the while loop
             MyState = EMG_CALIBRATION;
@@ -48,8 +48,11 @@
         }
     }
 }
-
-
+/*
+void emgcalibration() {
+    // do calibration
+}
+*/
 //P control implementation (behaves like a spring)
 double P_controller(double error)
 {
@@ -75,6 +78,7 @@
         
         case EMG_CALIBRATION :
             pc.printf("State: EMG Calibration");
+            //measureandcontrol(emgcalibration,timeinterval);
             break;
         
         case MOTOR_CALIBRATION :
@@ -113,7 +117,7 @@
         
         default :
             pc.printf("Default state: Motors are turned off");
-            sendtomotor(0);
+            sendtomotor(0.0f);
             break;
     }
 }
@@ -126,8 +130,8 @@
 int main()
 {
     pc.printf("Starting...\r\n\r\n");
-    double frequency = 17000.0;
-    double period_signal = 1.0/frequency;
+    double frequency = 17000.0f;
+    double period_signal = 1.0f/frequency;
     pc.baud(115200);
     
     button2.fall(failuremode);          // Function is always activated when the button is pressed
@@ -146,7 +150,7 @@
     }
     
     pc.printf("Programm stops running\r\n");
-    sendtomotor(0);
+    sendtomotor(0.0f);
     measurecontrol.attach(nothing,10000);
     return 0;
 }