Diff: actuators.cpp

Revision:

120:440f1516101b

Parent:

118:49605b5bd802

Child:

121:6d8f1bdcda05

--- a/actuators.cpp	Wed Oct 28 12:17:49 2015 +0100
+++ b/actuators.cpp	Wed Oct 28 11:22:48 2015 +0000
@@ -65,7 +65,7 @@
 bool calibrating2 = false;
 double looseTime = 0;
 
-bool calReady = false;
+//bool calReady = false;
 
 // Create object instances
 // Safety Pin
@@ -265,7 +265,7 @@
 const double L2 = 0.120; // first arm in m
 const double L3 = 0.255; // servo arm in m
 const double Xmax = 0.3;
-const double Xmin; = -0.3;
+const double Xmin = -0.3;
 const double Ymax = 0.645;
 const double Ymin = 0.33;
 
@@ -288,7 +288,6 @@
         motor1SetSpeed = 0;
         motor2SetSpeed = 0;
         return false;
-        break;
     }
 motor1SetSpeed = (setXSpeed*cos((motor1Pos + motor2Pos)*PI/180) + \
     setYSpeed*sin((motor1Pos + motor2Pos)*PI/180))/(L1*sin(motor2Pos*PI/180));
@@ -296,5 +295,6 @@
     setYSpeed*(L2+L3)*sin((motor1Pos + motor2Pos)*PI/180) + \
     setXSpeed*L1*cos(motor1Pos*PI/180) + \
     setYSpeed*L1*sin(motor1Pos*PI/180))/(L1*(L2+L3)*sin(motor2Pos*PI/180));
+    return true;
 
 }
\ No newline at end of file