Diff: main.cpp

Revision:

48:0ab6b1fd455f

Parent:

47:8963ca9829b9

Child:

51:7d165baaa646

--- a/main.cpp	Tue Apr 19 18:45:43 2022 +0200
+++ b/main.cpp	Tue Apr 19 18:52:59 2022 +0200
@@ -2,7 +2,7 @@
 #include "PM2_Libary.h"
 #include <cmath>
 #include <cstdint>
-#include "mapping.cpp"
+//#include "mapping.cpp"
 #include <cstdio>
 #include "math.h"
 //*******************************************************************************************************************************************************************
@@ -32,6 +32,7 @@
 // 78:1, 100:1, ... Metal Gearmotor 20Dx44L mm 12V CB
 DigitalOut enable_motors(PB_15);    // create DigitalOut object to enable dc motors
 float   pwm_period_s = 0.00005f;    // define pwm period time in seconds and create FastPWM objects to command dc motors
+
 //motor pin declaration
 FastPWM pwm_M_right (PB_13);    //motor pin decalaration for wheels right side         
 FastPWM pwm_M_left  (PA_9);     //motor pin decalaration for wheels left side 
@@ -52,7 +53,6 @@
 float k_gear                    = 100.0f / 78.125f;   // define additional ratio in case you are using a dc motor with a different gear box, e.g. 100:1 (DC with 100:1 has 2'000 turns for 360°)
 float kp                        = 0.1f;     // define custom kp, this is the default speed controller gain for gear box 78.125:1
 
-
 //motors for tracks
 PositionController positionController_M_right(counts_per_turn_wheels * k_gear, kn / k_gear, kp * k_gear, max_voltage, pwm_M_right, encoder_M_right); // parameters adjusted to 100:1 gear, we need a different speed controller gain here
 PositionController positionController_M_left(counts_per_turn_wheels * k_gear, kn / k_gear, kp * k_gear, max_voltage, pwm_M_left, encoder_M_left); // parameters adjusted to 100:1 gear, we need a different speed controller gain here
@@ -77,8 +77,8 @@
 float   current_deg_arm = start_deg_arm; // saves the current degree the arm has.
 
 // import functions from file mapping
-extern double powerx(double base, double pow2);
-extern double mapping (float adc_value_mV);
+//extern double powerx(double base, double pow2);
+//extern double mapping (float adc_value_mV);
 
 // calculates the deg which the arm has to take to reach a certain height (the input height has to be the height of OK Gripper area)
 double calc_arm_deg_for_height(int height_mm)
@@ -118,7 +118,6 @@
 }
 
 //Drives forward into the next step
-// calculatioin of acctual distance with wheels is needed
 int drive_straight(float distance)
 {
     float deg_to_turn = wheel_dist_to_deg(distance);
@@ -162,8 +161,6 @@
         
         switch (ToNextFunction) 
         {
-            case 0:
-            break;
 
             case 1: 
             start_position();