Erina Yamaguchi
/
jumping_leg_clicky
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Dependencies: ExperimentServer MotorShield QEI_pmw
Revision 28:925794e4178b, committed 2022-11-20
- Comitter:
- erinay
- Date:
- Sun Nov 20 23:16:31 2022 +0000
- Parent:
- 27:9f2dad72971f
- Child:
- 29:dc2556b300a6
- Commit message:
- Jumping Leg Desired Angles
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- 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