Basic Mid-Level control for the rebuilt MorphGI control unit, using PWM to communicate with the low level controllers.
Dependencies: ros_lib_kinetic
Diff: main.cpp
- Revision:
- 27:6853ee8ffefd
- Parent:
- 26:7c59002c9cd7
- Child:
- 28:8e0c502c1a50
--- a/main.cpp Mon Jan 28 21:24:48 2019 +0000
+++ b/main.cpp Tue Jan 29 14:58:45 2019 +0000
@@ -8,9 +8,6 @@
#include "HLComms.h"
#include "LLComms.h"
-// Maximum achievable mm path tolerance plus additional % tolerance
-//const float FLT_PATH_TOLERANCE_MM = MAX_SPEED_MMPS * (1/LL_DEMANDS_FREQ_HZ) * (1.0f+FLT_PERCENT_PATH_TOLERANCE);
-
// DEMAND VARIABLES
double dblDemandSpeed_mmps[N_CHANNELS] = { 0.0 }; // The linear path velocity (not sent to actuator)
double dblDemandPosition_mm[N_CHANNELS] = { 0.0 }; // The final target position for the actuator