Wessel Klumperman / Mbed 2 deprecated Inverse_kinematics_PIDController

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Dependencies:   Encoder HIDScope MODSERIAL QEI mbed

Fork of Inverse_kinematics_PIDController by Casper Kroon

Diff: main.cpp

Revision:
2:ffd0553701d3
Parent:
1:fc216448bb57
Child:
3:56cbed6caacc
--- a/main.cpp	Wed Oct 17 10:09:28 2018 +0000
+++ b/main.cpp	Wed Oct 17 10:12:06 2018 +0000
@@ -46,17 +46,19 @@
 
 void yDirection (int &motor2_angle) {      
     if (emg2) {
-        //calculating the motion
-        y_position++;
-        motor2_angle = C2 * y_position;
-        
         //direction of the motion
         if (y_direction) {
             directionpin2 = true;
+            direction = 1;
         }
         else if (!y_direction) {
             directionpin2 = false;
+            direction = -1;
         }
+        
+        //calculating the motion
+        y_position = y_position + direction;
+        motor2_angle = C2 * y_position;
     }
 }