Joris Kaal / Mbed 2 deprecated haptic_hid_1s_PRBS

PRBS signal on Haptic_hid with output signal of position

Dependencies:   MODSERIAL USBDevice compensation_tables mbed-dsp mbed

Fork of haptic_hid by First Last

Files at this revision

API Documentation at this revision

Revision 2:bf29d24b69dd, committed 2016-01-11

Comitter:
vsluiter
Date:
Mon Jan 11 12:03:23 2016 +0000
Parent:
1:24b7ab90081a
Child:
3:10863117020c
Commit message:
Clone of code

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Sat Jan 17 21:42:46 2015 +0000
+++ b/main.cpp	Mon Jan 11 12:03:23 2016 +0000
@@ -30,20 +30,20 @@
     {
         case Z_ZERO:
         {
-            localstate = Z_B;
-            SetImpedance(0,0.01,0,position);
+            localstate = Z_B; //mass
+            SetImpedance(0,0.03,0,position);
             break;
         }
         case Z_B:
         {
-            localstate = Z_I;
-            SetImpedance(0.01,0,0,position);
+            localstate = Z_I; //fluid
+            SetImpedance(0.0009,0.01,0.001,position);
             break;
         }
         case Z_I:
         {
-            localstate = Z_K;
-            SetImpedance(0,0,0.01,position);
+            localstate = Z_K;//spring
+            SetImpedance(0,0,0.05,position);
             break;
         }
         case Z_K: