![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Diff: Controls/Controls.h
- Revision:
- 13:64d337c5114e
- Parent:
- 12:49813131dd15
- Child:
- 14:d620415259b1
--- a/Controls/Controls.h Wed Dec 09 03:08:30 2015 +0000 +++ b/Controls/Controls.h Wed Dec 09 03:25:22 2015 +0000 @@ -119,16 +119,12 @@ void loop(){ -// getActiveIMU().disableInterrupt(); - // float z[4] = {1,2,3,4}; -// _pc->printf("%f\n", calcTau(z, _parameters, &gains, _pc)); - + getActiveIMU()->disableInterrupt(); + float tau = calcTau(_z, _parameters, &gains, &target, _pc); -// float tau = getTheta1(); - motor.setTorque(tau); -// getActiveIMU().enableInterrupt(); + getActiveIMU()->enableInterrupt(); } MyMPU6050* getActiveIMU(){