Gerhard Berman / Mbed 2 deprecated prog_inversekin

First trial for Inverse Kinematics Feedforward implementation. No errors, not yet tested with board

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of prog_pract3_3_PI_controller by Gerhard Berman

Diff: main.cpp

Revision:
17:91d20d362e72
Parent:
16:9b7651fdf5a0
--- 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