Jordi Luong / Mbed 2 deprecated Project_BioRobotics

Project BioRobotics Group 19

Dependencies:   FastPWM HIDScope MODSERIAL QEI biquadFilter mbed

Files at this revision

API Documentation at this revision

Revision 23:a87fd4719655, committed 2017-11-07

Comitter:
jordiluong
Date:
Tue Nov 07 09:33:51 2017 +0000
Parent:
21:2e732eb85daf
Commit message:
Final version

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 2e732eb85daf -r a87fd4719655 main.cpp
--- a/main.cpp	Fri Nov 03 10:06:57 2017 +0000
+++ b/main.cpp	Tue Nov 07 09:33:51 2017 +0000
@@ -111,6 +111,7 @@
 
 volatile bool xdir = true, ydir = false;                                        // Direction the EMG signal moves the end effector
 volatile int count = 0;                                                         // Counter to change direction
+
  
 // FUNCTIONS ///////////////////////////////////////////////////////////////////
 // BIQUAD FILTER FOR DERIVATIVE OF ERROR ///////////////////////////////////////
@@ -384,7 +385,7 @@
         
         // Construct Jacobian
         double q[4];
-        q[0] = position1, q[1] = -position1;
+        q[0] = position1, q[1] = -position1;                                    
         q[2] = position2, q[3] = -position2;
         
         double T2[3];                                                           // Second column of the jacobian