Diff: main.cpp

Branch:

michi

Revision:

50:058dc65d0fa4

Parent:

46:eba2263eb626

Child:

53:42b3280e4510

--- a/main.cpp	Tue Apr 19 18:36:19 2022 +0200
+++ b/main.cpp	Tue Apr 19 20:35:29 2022 +0200
@@ -14,7 +14,7 @@
 float gripper_area_height           = 16 ; // Height of Grappler cutout to grapple Stair (8)
 float dist_grappleratt_grappler_uk  = 33; // distance between pivotpoint Grappler and bottom edge (?)
 
-float height_stairs = 100; // height to top of next stairstep in mm
+float height_stairs                 = 100; // height to top of next stairstep in mm
 //***********************************************************************************************************************************************************
 // declaration of Input - Output pins
 
@@ -63,7 +63,7 @@
 //***********************************************************************************************************************************************************
 // logic functions for basic movement
 
-//Platzhalter Variabeln für die Positionierung
+//placeholder variables for prototype testing
 int     drive_stright_mm = 100; // placeholder for testing drives amount forward
 int     drive_back_mm = -100; // placeholder for testing drives amount backwards
 int     ToNextFunction = 0;  // current state of the system (which function is beeing executed)
@@ -108,7 +108,7 @@
         printf("Error in start_position: degree is out of bound for Start Position."); // error when desired reaching point is out of reach.
     }
     positionController_M_Arm.setDesiredRotation(deg / 360.0, max_speed_rps_arm); // command to turn motor to desired deg.
-    current_deg_arm = positionController_M_Arm.getRotation() * 360.0;
+    current_deg_arm = positionController_M_Arm.getRotation() * 360.0; //write new position to variable 
     return NULL;
 }