Luke Plummer
/
JesusLizard
lizard leg trajectory pd control code for 2.s994
Revision 7:e64cd99abefb, committed 2013-12-01
- Comitter:
- lukeplummer
- Date:
- Sun Dec 01 19:37:53 2013 +0000
- Parent:
- 6:8cd6aa47fd51
- Child:
- 8:448376e7d8f1
- Commit message:
- added force logging;
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Sun Dec 01 19:33:07 2013 +0000 +++ b/main.cpp Sun Dec 01 19:37:53 2013 +0000 @@ -17,8 +17,8 @@ QEI encoder2(p9, p10, NC, 1200, QEI::X4_ENCODING); //force measurement pins -AnalogIn f1(p15); -AnalogIn f2(p16); +AnalogIn aIn1(p15); +AnalogIn aIn2(p16); // Declare other objects Ticker ctrlTicker; // creates an instance of the ticker class, which can be used for running functions at a specified frequency. @@ -98,8 +98,10 @@ } void writeFiles() { + float f1 = aIn1.read(); + float f2 = aIn2.read() fprintf(fp1, "%f, %f\n",a1_t1, a2_t1); - fprintf(fp2, "%f, %f\n",f1.read(), f2.read()); + fprintf(fp2, "%f, %f average: $f\n",f1,f2, (f1+f2)/2); } int main() {