B M / Mbed OS final_project

final

Dependencies:   MatrixMath Matrix ExperimentServer QEI_pmw MotorShield

Files at this revision

API Documentation at this revision

Revision 22:448cb9493519, committed 2020-09-28

Comitter:
saloutos
Date:
Mon Sep 28 15:42:53 2020 +0000
Parent:
21:74d660439219
Child:
23:80e05d939f8c
Commit message:
Clarifying signs of desired currents

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Sep 28 13:16:00 2020 +0000
+++ b/main.cpp	Mon Sep 28 15:42:53 2020 +0000
@@ -280,10 +280,13 @@
         
                 // Joint impedance
                 // sub Kxx for K1, Dxx for D1, Kyy for K2, Dyy for D2
+                // Note: Be careful with signs now that you have non-zero desired angles!
+                // Your equations should be of the form i_d = K1*(q1_d - q1) + D1*(dq1_d - dq1)
 //                current_des1 = 0;          
 //                current_des2 = 0;                          
                            
-                // Cartesian impedance                
+                // Cartesian impedance  
+                // Note: As with the joint space laws, be careful with signs!              
 //                current_des1 = 0;          
 //                current_des2 = 0;