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:
16:9b7651fdf5a0
Parent:
15:9061cf7db23e
Child:
17:91d20d362e72
--- a/main.cpp	Thu Oct 20 13:11:09 2016 +0000
+++ b/main.cpp	Thu Oct 20 13:14:03 2016 +0000
@@ -229,7 +229,7 @@
         //led2=1;
         }
     if (fabs(motorValue1)>1) motor1MagnitudePin = 1;
-        else motor1MagnitudePin = fabs(motorValue1);
+        else motor1MagnitudePin = 0.1*fabs(motorValue1);  //fabs(motorValue1);
     //control motor 2
     if (motorValue2 >=0)  //clockwise rotation
         {motor2DirectionPin=ccw; //action is cw, due to faulty motor2DirectionPin (inverted)
@@ -242,7 +242,7 @@
         //led2=1;
         }
     if (fabs(motorValue2)>1) motor2MagnitudePin = 1;
-        else motor2MagnitudePin = fabs(motorValue2);
+        else motor2MagnitudePin = 0.1*fabs(motorValue2);  //fabs(motorValue1);
 }
 
 void MeasureAndControl()