Diff: main.cpp

Revision:

102:c070d711e1ac

Parent:

101:ee375f42cef4

Child:

105:440d61a4d5eb

--- a/main.cpp	Sat May 14 10:54:05 2022 +0200
+++ b/main.cpp	Sat May 14 10:56:41 2022 +0200
@@ -37,7 +37,7 @@
 
 // 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
+const 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         
@@ -135,14 +135,6 @@
     return new_partial_rotation;
 }
 
-float calc_pos_end_lift()
-{
-    float end_deg;
-    end_deg = asin((dist_arm_ground - (dist_grappleratt_grappler_uk - dist_arm_attach_OK_griparea)) / arm_length) + start_deg_arm;
-    end_deg = end_deg * 180 / pi;
-    return end_deg;
-}
-
 //***********************************************************************************************************************************************************
 // important calculatet constants for Wall-E
 const double deg_up_from_horizon_to_stair = calc_arm_deg_for_height(height_stairs);