Diff: main.cpp

Revision:

20:b2139294c547

Parent:

19:e5acb2183d4e

Child:

21:0b10d8e615d1

--- a/main.cpp	Tue Nov 27 16:52:06 2018 +0000
+++ b/main.cpp	Tue Nov 27 16:53:06 2018 +0000
@@ -157,87 +157,6 @@
         // Unlock mutex, allowing CalculateSmoothPath to run again
         mutPathIn.unlock();
         
-/*
-        //bool isTimeChanged = 0;
-        double dblMaxRecalculatedTime = input.duration;
-        // Convert from requested chamber to actuator space and limit actuator positions
-        for (ii = 0; ii< N_CHANNELS; ii++) {
-            // If sent a negative requested position, do NOT replan that actuator
-            if( dblTargetChambLen_mm[ii] < 0.0 ) continue;
-            //check to see if positions are achievable
-            dblTargetActPos_mm[ii] = dblTargetChambLen_mm[ii]*FLT_ACTUATOR_CONVERSION[ii];
-            dblTargetActPos_mm[ii] = min( max( 0.0 , dblTargetActPos_mm[ii] ) , 40.0 );
-            //!! LIMIT CHAMBER LENGTHS TOO
-        }
-        // Calculate achievable velocities, and hence time, for the requested move to complete within tolerance
-        double dblActPosChange;
-        short sgn;
-        for (ii = 0; ii< N_CHANNELS; ii++) { // Work out new velocities
-            // If sent a negative requested position, do NOT replan that actuator
-            if( dblTargetChambLen_mm[ii] < 0.0 ) continue;
-            
-            //dblActPosChange = 1.0; // or = 0.0;
-            //_dblVelocity_mmps[ii] = 0.0; // DOESN'T CRASH
-            
-            //dblActPosChange = dblTargetActPos_mm[ii];
-            //_dblVelocity_mmps[ii] = 0.0; // DOESN'T CRASH
-            
-            //dblActPosChange = _dblLinearPathCurrentPos_mm[ii]; // DOESN'T CRASH
-            
-            //_dblVelocity_mmps[ii] = _dblLinearPathCurrentPos_mm[ii]; // DOESN'T CRASH
-            
-            //dblActPosChange = 0.0;
-            //_dblVelocity_mmps[ii] = _dblLinearPathCurrentPos_mm[ii]; // DOESN'T CRASH
-            
-            // DOES CRASH but not with a return at the end of while OR if _ variables are declared globally
-            //dblActPosChange = _dblLinearPathCurrentPos_mm[ii];
-            //_dblVelocity_mmps[ii] = 0.0;
-            
-            dblActPosChange = dblTargetActPos_mm[ii] - dblADCCurrentPosition[ii];
-            if( fabs(dblActPosChange) < FLT_PATH_TOLERANCE ) { // If actuator ii is already within tolerance
-                dblActPosChange = 0.0;
-                //isTimeChanged = 1;
-            }
-            //IS BELOW
-            if( input.duration < 0.000000001 ) { // If max (safe) velocity was requested
-                sgn = (dblActPosChange > 0) ? 1 : ((dblActPosChange < 0) ? -1 : 0);
-                _dblVelocity_mmps[ii] = sgn * MAX_SPEED_MMPS;
-                //isTimeChanged = 1;
-            } else {
-                _dblVelocity_mmps[ii] = dblActPosChange / input.duration;
-            }
-            //IS ABOVE
-            // Check to see if velocities are achievable -- this can move into the else section of the above if statement
-            if(abs(_dblVelocity_mmps[ii]) > MAX_SPEED_MMPS) {
-                if(_dblVelocity_mmps[ii]>0) {
-                    _dblVelocity_mmps[ii] = MAX_SPEED_MMPS;
-                } else {
-                    _dblVelocity_mmps[ii] = -1*MAX_SPEED_MMPS;
-                }
-                //isTimeChanged = 1;
-            }
-            // Recalculate the move's time after altering the position and/or velocity
-            double dblRecalculatedTime;
-            if( fabs(_dblVelocity_mmps[ii]) < 0.000000001 ) {
-                dblRecalculatedTime = 0;
-            } else {
-                dblRecalculatedTime = dblActPosChange / _dblVelocity_mmps[ii];
-            }
-            // Find the maximum time for any actuator's move for synchronization
-            if( dblRecalculatedTime > dblMaxRecalculatedTime ) {
-                dblMaxRecalculatedTime = dblRecalculatedTime;
-            }
-        }
-        // Finally recalculate all of the velocities based upon this maximum time for synchronization
-        // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!MUTEX FOR dblVelocity_mmps and dblTargetActPos_mm??
-        for (ii = 0; ii< N_CHANNELS; ii++) { // Work out new velocities
-            // If sent a negative requested position, do NOT replan that actuator
-            if( dblTargetChambLen_mm[ii] < 0.0 ) continue;
-            
-            _dblVelocity_mmps[ii] = (dblTargetActPos_mm[ii] - dblADCCurrentPosition[ii]) / dblMaxRecalculatedTime;
-            dblVelocity_mmps[ii] = _dblVelocity_mmps[ii];
-        }
-*/
         // SEND MESSAGE
         error_code = hlcomms.send_duration_message(&maxTimeToTarget_s);
         if( error_code < 0 ) {