Diff: main.cpp

Revision:

20:201175fa8a2a

Parent:

19:cba54636bd62

Child:

21:dd51d78c0732

--- a/main.cpp	Tue Oct 25 13:37:22 2016 +0000
+++ b/main.cpp	Tue Oct 25 14:39:47 2016 +0000
@@ -17,6 +17,8 @@
 - Set robot constants (lengths etc.)
 - Set EMGgain and thresholds
 - Add tower height to ReferencePosition_y and Position_y
+- Add (lower) bounderies to errors
+- Add scale factors for motors
 */
 
 //set pins
@@ -206,6 +208,7 @@
     else {
         ReferencePosition_x = ReferencePosition_xnew;        
         ReferencePosition_y = ReferencePosition_ynew;
+        }
     
     //calculate reference joint angles for the new reference position
     float alpha = atan(ReferencePosition_y/ReferencePosition_x);
@@ -314,7 +317,7 @@
     scope.set(2,biceps_l);
     scope.set(3,biceps_r);
     scope.send();
-    */
+    */ 
 }
 
 void SetMotor1(float motorValue1, float motorValue2)