Diff: source/Movement.cpp

Revision:

55:36c290715769

Parent:

54:453f24775644

Child:

62:628f8a4e857c

--- a/source/Movement.cpp	Tue Apr 18 13:11:55 2017 +0000
+++ b/source/Movement.cpp	Tue Apr 18 13:43:44 2017 +0000
@@ -78,147 +78,3 @@
 
 
 
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-/*
-
-#include "mbed.h"
-#include "movement.h"
-#include "EncoderCounter.h"
-
-static double time_counter = 0.0f;
-static double timer0 = 0.0f;
-static float PID_correction_value = 1.0f;
-
-static float power_value_slow = 0.6f;
-static float power_value_medium = 0.7f;
-static float power_value_fast = 0.8f;
-static float ludicrous_value = 1.0f;
-
-//Motor Encoders
-EncoderCounter counterLeft(PB_6, PB_7);
-EncoderCounter counterRight(PA_6, PC_7);
-
-//motor stuff
-DigitalOut enableMotorDriver(PB_2);
-PwmOut pwmL(PA_8);
-PwmOut pwmR(PA_9);
-DigitalIn motorDriverFault(PB_14);
-DigitalIn motorDriverWarning(PB_15);
-
-//DigitalOut led(LED1); // Board LED
-
-DigitalOut led(LED1); // Board LED
-
-
-// ******************************************************************************
-
-void move_init()
-{
-    pwmL.period(0.00005f); // Setzt die Periode auf 50 μs
-    pwmR.period(0.00005f);
-
-    pwmL.write(0.5f); // Setzt die Duty-Cycle auf 50%
-    pwmR.write(0.5f);
-    enableMotorDriver = 1;
-
-    PID_correction_value = 1.0f;
-
-}
-// ******************************************************************************
-void move_forward_slow(float correction_value)
-{
-    pwmL.write(power_value_slow);
-    pwmR.write(correction_value);
-    printf("Left: %f || Right: %f    value:%f \r\n",pwmL.read(), pwmR.read(), correction_value);
-
-}
-
-void move_forward_medium(float correction_value)
-{
-    pwmL = power_value_medium;
-    pwmR = 1-power_value_medium*correction_value;
-}
-
-void move_backward_slow(float correction_value)
-{
-    pwmL = 1-power_value_slow*correction_value;
-    pwmR = power_value_slow;
-}
-
-void move_backward_medium(float correction_value)
-{
-    pwmL = 1-power_value_slow*correction_value;
-    pwmR = power_value_slow;
-
-}
-// ******************************************************************************
-
-void stop_movement()
-{
-    pwmL = 0.5f;
-    pwmR = 0.5f;
-    counterLeft.reset();
-    counterRight.reset();
-}
-
-void sync_movement(bool speed, bool direction)
-{
- if(counterLeft.read() > 30000 || -counterRight > 30000){
-
-     }
- printf("Left: %d || Right: %d\r\n",counterLeft.read(), -counterRight.read());
-    if(counterLeft.read() > -counterRight.read()) {
-        PID_correction_value += 0.001f;
-    } else {
-        if(counterLeft.read() < -counterRight.read()) {
-            PID_correction_value -= 0.001f;
-        } else {
-            // even
-        }
-    }
-
-    if(PID_correction_value < 0.0f) {
-        PID_correction_value = 0;
-    }
-    if(PID_correction_value > 2.0f) {
-        PID_correction_value = 2;
-    }
-
-// Call movement:
-// direction 0 = backward, direction 1 = forward
-// speed 0 = slow, speed 1 = medium
-
-    if(direction && speed) {
-        move_forward_medium(PID_correction_value);
-    }
-    if(direction && !speed) {
-        float value = 1.0f-power_value_slow*PID_correction_value;
-        move_forward_slow(value);
-    }
-    if(!direction && speed) {
-        move_backward_medium(PID_correction_value);
-    }
-    if(!direction && !speed) {
-        move_backward_slow(PID_correction_value);
-    }
-}
-
-void terminate_movement()
-{
-    PID_correction_value = 1.0f;
-    pwmL.write(0.5f);
-    pwmR.write(0.5f);
-}
-*/