Version for EMG Threshold finding
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of prog_BioRobotics_Group9_StampRobot by
Diff: main.cpp
- Revision:
- 20:201175fa8a2a
- Parent:
- 19:cba54636bd62
- Child:
- 21:dd51d78c0732
diff -r cba54636bd62 -r 201175fa8a2a main.cpp --- 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)