Diff: main.cpp

Branch:

michi

Revision:

83:8cf96ccfac98

Parent:

81:909670edc2a2

Child:

84:40d64e0bb1ea

--- a/main.cpp	Wed Apr 27 17:42:51 2022 +0200
+++ b/main.cpp	Mon May 02 13:31:04 2022 +0200
@@ -127,7 +127,7 @@
     return new_partial_rotation;
 }
 //***********************************************************************************************************************************************************
-// important calculatet constants for Wall-E
+// important calculatet constant for Wall-E
 const double deg_up_from_horizon_to_stair = calc_arm_deg_for_height(height_stairs);
 
 // import functions from file mapping
@@ -211,24 +211,21 @@
 
             case 1: 
             set_arm_stair_height();
-            printf("Case 1: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
             break;
 
             case 2: 
             drive_straight(drive_straight_mm);
-            printf("Case 2: Position Right(rot): %3.3f;    Position Left (rot): %3.3f\n",
-            positionController_M_right.getRotation(),positionController_M_left.getRotation());
             break;
 
             case 3: 
             lift_up();
-            printf("Case 3: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
             break;
 
-            case 4: 
+            case 4:
+            set_arm_stair_height();
+
+            case 5: 
             drive_straight(drive_back_mm);
-            printf("Case 4: Position Right(rot): %3.3f;    Position Left (rot): %3.3f\n",
-            positionController_M_right.getRotation(),positionController_M_left.getRotation());
             ToNextFunction = 0;
             break;