Erina Yamaguchi / Mbed OS jumping_leg_clicky

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Dependencies:   ExperimentServer MotorShield QEI_pmw

Diff: main.cpp

Revision:
28:925794e4178b
Parent:
27:9f2dad72971f
Child:
29:dc2556b300a6
--- a/main.cpp	Fri Nov 18 19:38:21 2022 +0000
+++ b/main.cpp	Sun Nov 20 23:16:31 2022 +0000
@@ -232,15 +232,16 @@
 
 //                 Set desired currents             
 //                current_des1 =  (-K_xx*(angle1)-D_xx*(velocity1))/k_t;    
-                while (hold.read() == 0 | hold.read() > 2){
-                    if(clicker.read() == 0) {
-                            th1_des = angle1_init;
-                        }
-                    else {
-                            th1_des = angle1_des;
-                            hold.start();
-                        }     
-                }
+//                while (hold.read() == 0 | hold.read() > 2){
+//                    if(clicker.read() == 0) {
+//                            th1_des = angle1_init;
+//                        }
+//                    else {
+//                            th1_des = angle1_des;
+//                            hold.start();
+//                        }     
+//                }
+                th1_des = angle1_des;
                         
                 // Joint impedance
                 // sub Kxx for K1, Dxx for D1, Kyy for K2, Dyy for D2