Tommie Verouden
/
StateMachine
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Dependencies: biquadFilter FastPWM MODSERIAL QEI mbed
Diff: main.cpp
- Revision:
- 26:247be0bea9b1
- Parent:
- 25:ac139331fe51
- Child:
- 33:44ba3c159f54
--- a/main.cpp Thu Nov 01 13:55:12 2018 +0000
+++ b/main.cpp Thu Nov 01 14:06:35 2018 +0000
@@ -51,7 +51,7 @@
Ticker motorF;
// Define & initialise state machine
-const float dt = 0.02f
+const float dt = 0.002f;
enum states { calibratingMotors, calibratingEMG,
homing, reading, operating, failing, demoing
};
@@ -151,8 +151,24 @@
Ticker simulateval; //Timer that prints the values for x,y, and angles
// ---------------------- Parameters for the motors ---------------------------
+const float countsRad = 4200.0f;
+int countsL;
+int countsR;
+int countsF;
+int countsCalibratedL;
+int countsCalibratedR;
+int countsCalibratedF;
+float angleCurrentL;
+float angleCurrentR;
+float angleCurrentF;
+float errorL;
+float errorR;
+float errorF;
+float errorCalibratedL;
+float errorCalibratedR;
+float errorCalibratedF;
-
+int countsCalibration = 4200/4;
// ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ FUNCTIONS ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡
// ============================ GENERAL FUNCTIONS =============================
