bio robot
Dependencies: MPU6050-DMP QEI_hw mbed-rpc mbed
Fork of MPU6050_Example by
Diff: Controls/Controls.h
- Revision:
- 12:49813131dd15
- Parent:
- 11:711d3c207e8c
- Child:
- 13:64d337c5114e
diff -r 711d3c207e8c -r 49813131dd15 Controls/Controls.h --- a/Controls/Controls.h Tue Dec 08 22:52:46 2015 +0000 +++ b/Controls/Controls.h Wed Dec 09 03:08:30 2015 +0000 @@ -43,6 +43,8 @@ _lastTorque = motor.getTorque(); _manualTheta = 0; + + setTargetPosition(6); } void setInverted(bool inverted){ @@ -93,7 +95,7 @@ Target target; void setTargetPosition(int position){ - target.setPosition(position); + target.setPosition(position, _parameters); }; int getTargetPosition(){ return target.getPosition(); @@ -121,7 +123,7 @@ // float z[4] = {1,2,3,4}; // _pc->printf("%f\n", calcTau(z, _parameters, &gains, _pc)); - float tau = calcTau(_z, _parameters, &gains, _pc); + float tau = calcTau(_z, _parameters, &gains, &target, _pc); // float tau = getTheta1(); motor.setTorque(tau);