Diff: main.cpp

Revision:

17:802aede7b90e

Parent:

15:ed33be6f040e

Child:

21:cef093edb441

--- a/main.cpp	Mon Apr 09 15:09:18 2018 +0000
+++ b/main.cpp	Mon Apr 09 15:11:27 2018 +0000
@@ -176,7 +176,7 @@
     // update controllers
     if(shouldBalance) {
         
-        /*
+        ///*
         // balance, set n_soll = 0.0f
         // ---------------------------------------------------------------------
         // K matrix: -5.2142   -0.6247  // from Matlab
@@ -188,7 +188,7 @@
         }
         if(k == 0) printLine();
         if(k++ < 2000) pc.printf("%6.4f %6.4f %6.4f %6.4f\r\n", uPI, uSS, ang, omega);
-        */
+        //*/
         
         /*
         // step response velocity controller, set n_soll = 0.0f
@@ -198,7 +198,7 @@
         if(k++ < 2000) pc.printf("%6.4f %6.4f %6.4f\r\n", 10.0f, omega, desTorque);
         */
         
-        ///*
+        /*
         // gpa measurement, set n_soll = 15.0f
         // ---------------------------------------------------------------------
         // measuring the plant P and the closed loop tf T = PC/(1 + PC)
@@ -212,7 +212,7 @@
         // outWobble = desTorque;
         // excWobble = Wobble(inpWobble, outWobble);
         if(++k == 73000) Wobble.printGPAmeasTime();
-        //*/
+        */
         
     } else if(shouldGoDown) {
         // swing down