Diff: Controls/Target.h

Revision:

17:8a0e647cf551

Parent:

16:5b19be27f08a

--- a/Controls/Target.h	Thu Dec 10 10:55:35 2015 +0000
+++ b/Controls/Target.h	Fri Dec 11 00:44:45 2015 +0000
@@ -93,7 +93,7 @@
         }
         
         float calcTargetingForce(volatile float z[4], float p[10], float K, float D){
-            
+                        
             float th1 = z[0];
             float th2 = z[1];
             float dth1 = z[2];
@@ -132,7 +132,8 @@
             float gain = (K*norm - D*dNorm);
             float forceTaskSp[2] = {gain*xUnit, gain*yUnit};
             float Jtrans[2][2];
-            getGripperJacobianTranspose(Jtrans, z, p);
+            
+            getGripperJacobianTranspose(Jtrans, z, p);            
         
             return Jtrans[0][1]*forceTaskSp[0]+Jtrans[1][1]*forceTaskSp[1];
         }
@@ -194,7 +195,7 @@
             if (targetPosition == 1 || targetPosition == 4 || targetPosition == 7) return -_latticePitch;
             if (targetPosition == 2 || targetPosition == 5 || targetPosition == 8) return 0;
             if (targetPosition == 3 || targetPosition == 6 || targetPosition == 9) return _latticePitch;
-            _pc->printf("invalid target position %f", targetPosition);
+            _pc->printf("invalid target position %f\n", targetPosition);
             return _latticePitch;
         }
         
@@ -202,7 +203,7 @@
             if (targetPosition < 4) return _latticePitch;
             if (targetPosition < 7) return 0;
             if (targetPosition < 10) return -_latticePitch;
-            _pc->printf("invalid target position %f", targetPosition);
+            _pc->printf("invalid target position %f\n", targetPosition);
             return 0;
         }