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Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of
prog_forwardkin_feedback_copy3
by 
Gerhard Berman
Diff: main.cpp
- Revision:
- 47:13b4a318a3d0
- Parent:
- 46:4af2f01da9f3
- Child:
- 48:73a5f7f62aec
--- a/main.cpp Sat Nov 05 17:13:23 2016 +0000
+++ b/main.cpp Mon Nov 07 12:14:16 2016 +0000
@@ -181,8 +181,8 @@
void GetReferenceKinematics1(float &q1Out, float &q2Out, float &q1_refOut, float &q2_refOut)
{
-//This function reads current position from encoder, calculates reference position from
-//T-switch value, converts reference position to reference angles and checks boundaries.
+//This function reads current joint angles from encoder, calculates reference position from
+//T-switch value, converts reference position to reference joint angles and checks boundaries.
//get joint positions q feedback from encoder
float Encoder1Position = counts1/resolution; //angular encoder position (rad)