Tristan Vlogman / Mbed 2 deprecated locomotion_pid_action_refactor_EMG

Control up to two motors using filtered EMG signals and a PID controller

Dependencies:   FastPWM HIDScope MODSERIAL QEI Matrix biquadFilter controller errorFetch mbed motorConfig refGen MatrixMath inverseKinematics

Fork of Minor_test_serial by First Last

Diff: main.cpp

Revision:
20:4ce3fb543a45
Parent:
19:f08b5cd2b7ce
Child:
21:d266d1e503ce
--- a/main.cpp	Fri Oct 06 05:29:52 2017 +0000
+++ b/main.cpp	Fri Oct 06 07:23:26 2017 +0000
@@ -36,15 +36,17 @@
 
 // MOTOR CONTROL PART    
 
+bool m1_direction = false;
+
 // Function getReferenceVelocity returns reference r between -8.4 and 8.4 rad/s
 float getReferenceVelocity(){
     const float maxVelocity = 8.4; // max velocity in rad/s
     double r;
-    if(motor1_direction = false){
+    if(m1_direction == false){
         // Clockwise rotation yields positive reference
         r = maxVelocity*pot.read();
         }
-    if(motor1_direction = true){
+    if(m1_direction == true){
         // Counterclockwise rotation yields negative reference
         r = -1*maxVelocity*pot.read();
         }
@@ -103,7 +105,7 @@
 
     
 void M1switchDirection(){
-    motor1_direction = !motor1_direction;
+    m1_direction = !m1_direction;
     }
 
 // readEncoder reads counts and revs and logs results to serial window
@@ -118,7 +120,7 @@
 int main()
     {
     pc.printf("Main function");
-    motor1_direction = false; // False = clockwise rotation
+    motor1_direction = 0; // False = clockwise rotation
     motor1_pwm.period(pwmPeriod);//T=1/f 
     sw2.fall(&killSwitch);
     sw3.fall(&turnMotorsOn);