Diff: main.cpp

Revision:

6:b4347c69816a

Parent:

5:72e92c721cd5

Child:

7:b4b95e5f0fce

--- a/main.cpp	Wed Apr 29 21:52:37 2015 +0000
+++ b/main.cpp	Tue May 05 18:53:06 2015 +0000
@@ -166,8 +166,8 @@
     //AD7730 adc2(p11, p12, p13, p18, p19);
     
     
-    AnalogIn AinJoystickFwdBk(p17);          //Set up potentiometer on pin 16
-    AnalogIn AinJoystickLftRt(p16);          //Set up potentiometer on pin 17
+    AnalogIn AinJoystickFwdBk(p17);          //Set up potentiometer on pin 17
+    AnalogIn AinJoystickLftRt(p16);          //Set up potentiometer on pin 16
     float JoystickFwdBk_Zero=0.5;
     float JoystickLftRt_Zero=0.5;
     
@@ -621,6 +621,8 @@
             //angle=left_servo_measured;
             int loadcell=adc.read();
             
+            
+            // Code to determine if we should toggle the variable of "g_we_are_grasping"
             if(!g_we_are_grasping && loadcell>entry_threshold && angledot<velocty_threshold){
                 //Grasp is starting
                 g_we_are_grasping=true;
@@ -654,7 +656,7 @@
             }
             
             //std::vector<int> data_in=<angle, angledot, angledotdot, loadcell, potread>
-            printf("%6.3f,%0.0f,% 2.3f,% 2.3f,%d,%d,%0.0f,%0.0f,%0.3f,%s\n",mytimer.read_us()/1000.0,angle, angledot, angledotdot, loadcell, potread,g_error_norm[1]*angle,g_error_norm[1],alpha,sstr.c_str());
+            printf("Data:,%6.3f,%0.0f,% 2.3f,% 2.3f,%d,%d,%0.0f,%0.0f,%0.3f,%s\n",mytimer.read_us()/1000.0,angle, angledot, angledotdot, loadcell, potread,g_error_norm[1]*angle,g_error_norm[1],alpha,sstr.c_str());
             //printf("%s",recent_pos.get_string().c_str());
 //            printf("<%d,%d,%d,%d,%d,%d,%d>  ",tempSpindleData.myServoData[LEFT_SERVO_INDEX].pos,
 //                                              tempSpindleData.myServoData[LEFT_SERVO_INDEX].force,