Version for EMG Threshold finding
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of prog_BioRobotics_Group9_StampRobot by
Diff: main.cpp
- Revision:
- 17:91d20d362e72
- Parent:
- 16:9b7651fdf5a0
- Child:
- 18:d2cfd07ae88a
diff -r 9b7651fdf5a0 -r 91d20d362e72 main.cpp --- a/main.cpp Thu Oct 20 13:14:03 2016 +0000 +++ b/main.cpp Fri Oct 21 10:39:46 2016 +0000 @@ -5,6 +5,18 @@ #include "HIDScope.h" #include "BiQuad.h" +/* +THINGS TO CONSIDER +- Line 234, 239: motor action of motor 1 is inverted because it is mounted +opposite to motor 2 in the tower. Check if the clockwise directions of the +motors correspond to the positive q1, q2-directions (both counterclockwise) + in the original IK-sketch. +- Line 244,257: motor values have been scaled down for safety at first test, restore +after testing to get proper action. +- Set angle boundaries!! +- Set robot constants (lengths etc.) +*/ + //set pins DigitalIn encoder1A (D13); //Channel A van Encoder 1 DigitalIn encoder1B (D12); //Channel B van Encoder 1