Emily Kamienski
/
swing_jump_win
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Dependencies: ExperimentServer MotorShield QEI_pmw
Revision 1:c4fa1bfe7672, committed 2022-11-29
- Comitter:
- ekamienski
- Date:
- Tue Nov 29 21:25:30 2022 +0000
- Parent:
- 0:f7e7848048d5
- Commit message:
- Fixed arm activation delay issue
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Nov 28 22:18:47 2022 +0000
+++ b/main.cpp Tue Nov 29 21:25:30 2022 +0000
@@ -162,7 +162,7 @@
// If there are new inputs, this code will run
if (server.getParams(input_params,NUM_INPUTS)) {
-
+ jumped = false;
// Get inputs from MATLAB
start_period = input_params[0]; // First buffer time, before trajectory
@@ -342,11 +342,12 @@
// current_des2 = (-K_yy*(th2 - th2_des) - D_yy*(dth2 - dth2_des))/k_t;
- if (t.read() >= tipre && t.read() <= tih) {
-
- current_des2 = -1*(-K_yy*(th2 - thpre) - D_yy*(dth2))/k_t; // negative sign so goes clockwise
-
- } else if (t.read() >= tih && jumped == false) { //&& th2 > th2_limu
+ //if (t.read() >= tipre && t.read() <= tih) {
+//
+// current_des2 = -1*(-K_yy*(th2 - thpre) - D_yy*(dth2))/k_t; // negative sign so goes clockwise
+//
+// }
+ if (t.read() >= tih && jumped == false) { //&& th2 > th2_limu
current_des2 = -max_torque/k_t;
// pc.printf("im here");
// pc.printf("currentdes2: %f \n\r", current_des2);
@@ -360,9 +361,9 @@
current_des2 = 0.0;
}
- if (t.read() >= tihend) {
- current_des2 = 0.0;
- }
+ //if (t.read() >= tihend) {
+// current_des2 = 0.0;
+// }
// Cartesian impedance
// Note: As with the joint space laws, be careful with signs!