Diff: main.cpp

Branch:

michi

Revision:

99:799e90067935

Parent:

98:73a9b8833e57

Child:

103:edb8912708f3

--- a/main.cpp	Wed May 04 09:32:09 2022 +0200
+++ b/main.cpp	Sat May 14 10:18:54 2022 +0200
@@ -151,7 +151,7 @@
 
 //***********************************************************************************************************************************************************
 // important calculatet constant for Wall-E
-const double deg_up_from_horizon_to_stair = calc_arm_deg_for_height(height_stairs);
+const double deg_up_from_horizon_to_stair = calc_arm_deg_for_height(height_stairs); //deg which arm motor has to turn to in order to grab stair. starting from horizontal position
 
 // import functions from file mapping
 extern double powerx(double base, double pow2);
@@ -188,7 +188,6 @@
 {
     float deg = deg_up_from_horizon_to_stair + start_deg_arm;
     float diff;
-    double deg_up_from_horizon = calc_arm_deg_for_height(height_stairs); //deg which arm motor has to turn to in order to grab stair. starting from horizontal position
 
     positionController_M_Arm.setDesiredRotation(deg / 360.0, max_speed_rps_arm); // command to turn motor to desired deg.
     diff = deg-(positionController_M_Arm.getRotation() * 360.0);