Diff: PiControlThread.cpp

Revision:

21:7fee709bb063

Parent:

20:9118203f7c9c

Child:

22:c09acff62e6a

--- a/PiControlThread.cpp	Fri Mar 23 22:10:38 2018 +0000
+++ b/PiControlThread.cpp	Fri Mar 23 22:32:38 2018 +0000
@@ -34,8 +34,6 @@
 
 sensors_t sensors;
 
-int time_passed = 0;
-
 void PiControlThread(void const *);
 void PeriodicInterruptISR(void);
 
@@ -65,8 +63,6 @@
 
 Ticker PeriodicInt;      // Declare a timer interrupt: PeriodicInt
 
-DigitalOut led3(LED3);
-
 /*******************************************************************************
 * @brief    function that creates a thread for the PI controller. It initializes 
 *           the PI controller's gains and initializes the DC Motor. It also 
@@ -77,8 +73,8 @@
 void PiControlThreadInit()
 {
     DE0_init();                  // initialize FPGA
-    motorDriver_R_init();          // initialize motorDriver
-    motorDriver_L_init();          // initialize motorDriver
+    motorDriver_R_init();        // initialize motorDriver
+    motorDriver_L_init();        // initialize motorDriver
     //                Kp,Ki
     PiController_init(1,0.4); // initialize the PI Controller gains and initialize variables
     
@@ -86,7 +82,7 @@
 
     // Specify address of the PeriodicInt ISR as PiControllerISR, specify the interval
     // in seconds between interrupts, and start interrupt generation:
-    PeriodicInt.attach(&PeriodicInterruptISR, 0.010);   // 10ms sampling period -> 100Hz
+    PeriodicInt.attach(&PeriodicInterruptISR, 0.010);   // 10ms sampling period -> 100Hz freq
      
 }
 
@@ -110,10 +106,10 @@
         sensors.dp_right = SaturateValue(sensors.dp_right, 112);
         sensors.dp_left = SaturateValue(sensors.dp_left, 112);
         
-        // Maximum velocity at dPostition = 560 is vel = 703
+        // Maximum angular velocity @ dPostition = 112 is vel = 703 rad/sec
         velR = (float)((6135.92 * sensors.dp_right) / sensors.dt_right) ;
         
-        // Maximum velocity at dPostition = 560 is vel = 703
+        // Maximum angular velocity @ dPostition = 112 is vel = 703 rad/sec
         velL = (float)((6135.92 * sensors.dp_left) / sensors.dt_left) ;
         
         /********************Manual Setpoint and Steering**********************/