Martijn Homsma / Mbed OS Mbed_Shield_KinModel

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Dependencies:   Encoder MODSERIAL

Files at this revision

API Documentation at this revision

Revision 3:c34df562d713, committed 2017-11-01

Comitter:
mhomsma
Date:
Wed Nov 01 11:35:20 2017 +0000
Parent:
2:e9e3ff715ef7
Child:
4:c2017b3a7adb
Commit message:
BUGFIXING: Kinematic Referencer does something weird; probably the Vx and Vy are translated WRONG causing too small / large changes to q1 and q2

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Nov 01 11:25:27 2017 +0000
+++ b/main.cpp	Wed Nov 01 11:35:20 2017 +0000
@@ -51,18 +51,6 @@
 double M1_f_v1 = 0.0, M1_f_v2 = 0.0;
 double M2_f_v1 = 0.0, M2_f_v2 = 0.0;
 
-// PROGRAM THAT CALCULATES ANGLE CHANGES
-/*
-//Xdes and Ydes changer
-void Counter(double &des, double dir, double sig){
-    if (sig == 0){
-        if (dir == 1)
-            des = des + 0.05;
-        else if (dir == 0)
-            des = des - 0.05;
-    }
-} */
-
 //Kinematic model
 void Kinematic_referencer( /*double &xdes, double &ydes,*/ double &q1, double &q2, double a1, double a2)
     {