Tommie Verouden / Mbed 2 deprecated StateMachine

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Dependencies:   biquadFilter FastPWM MODSERIAL QEI mbed

Diff: main.cpp

Revision:
44:ca74d11a2dac
Parent:
43:d332aa9f49e0
Child:
46:f4dcfe6652ac
Child:
50:4a7b0a3f64cb
--- a/main.cpp	Thu Nov 01 15:02:32 2018 +0000
+++ b/main.cpp	Thu Nov 01 15:07:51 2018 +0000
@@ -136,6 +136,18 @@
 double prefy;                                                   //Desired y velocity                                                        "
 float iJ[2][2];                                                 //inverse Jacobian matrix
 
+//Kinematics parameters for x
+float xendsum;
+float xendsqrt1;
+float xendsqrt2;
+float xend;
+
+//Kinematics parameters for y
+float yendsum;
+float yendsqrt1;
+float yendsqrt2;
+float yend;
+
 // ---------------------- Parameters for the motors ---------------------------
 const float     countsRad = 4200.0f;
 int     countsL;