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:
35:99bf23b34ee3
Parent:
34:1a70aa045c8f
Child:
36:f3f3327d1d5a
--- a/main.cpp	Sun Oct 22 08:01:59 2017 +0000
+++ b/main.cpp	Sun Oct 22 08:07:06 2017 +0000
@@ -105,7 +105,9 @@
 void measureAndControl(){
     m1counts = Encoder1.getPulses();
     m2counts = Encoder2.getPulses();
-    float r1 = ref1.getFilteredReference;
+    float r1 = ref1.getReference();
+    r1 = HPbqc.applyFilter(r1);
+    r1 = LPbqc.applyFilter(r1);
     e1.fetchError(m1counts, r1);
     float motorValue = motorController1.control(e1.e_pos, e1.e_int, e1.e_der);
     float r1_unfiltered = ref1.getReference();