Marlowe Noll / Mbed 2 deprecated EMG_controlled_Inv_Kin_PID_Control_copy

repurposed void update_encoder copy

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of EMG_controlled_Inv_Kin_PID_Control by Marlowe Noll

Files at this revision

API Documentation at this revision

Revision 3:9f0c4e8e21db, committed 2016-11-01

Comitter:
JeffreyBrimm
Date:
Tue Nov 01 09:53:08 2016 +0000
Parent:
2:6523e21391e5
Commit message:
removed obsolete code in void update_encoder. Now only prints variables.

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Nov 01 09:23:01 2016 +0000
+++ b/main.cpp	Tue Nov 01 09:53:08 2016 +0000
@@ -104,11 +104,7 @@
 
 void update_encoder()
 {
-    //q1 = wheel_M1.getPulses()/(1334.355/2);
-    //q2 = wheel_M2.getPulses()/(1334.355/2);
-    //pc.printf("q1 = %f \tq1_ref = %f \tq2 = %f \tq2_ref = %f \ttotalerr1 = %f \ttotalerr2 = %f\n\r",q1, q1_ref,q2,q2_ref,q1_total_error,q2_total_error);
     pc.printf("vx = %f \tvy = %f \tq1_r = %f \tq2_r = %f \tq1 = %f \tq2 = %f \tpwm_M1 = %f \tpwm_M2 = %f\n\r",vx,vy,q1_ref,q2_ref,q1,q2,pwm_M1.read(),pwm_M2.read());
-    //pc.printf("q1_err = %0.9f \tq2_err = %0.9f \tq1IntErr = %0.9f \tq2IntErr = %0.9f \tTotErr1 = %0.9f \tTotErr2 = %0.9f\n\r",q1_error,q2_error,q1IntError,q2IntError,q1_total_error,q2_total_error);
 }
 
 Ticker end_calibration_biceps_ticker;
@@ -400,6 +396,7 @@
         q1_error_prev = 0;
         q2_error_prev = 0;
     }
+    
 
     q1_ref_prev = q1_ref;
     q2_ref_prev = q2_ref;
@@ -499,7 +496,7 @@
             go_flag_emgsample = false;
             emgsample();
         }
-        // update encoder
+        // print variables v, q, qref, pwm
         if (go_flag_update_encoder == true) {
             go_flag_update_encoder = false;
             update_encoder();