Diff: main.cpp

Revision:

4:55e6707949dd

Parent:

3:06f794380b5d

Child:

5:5082d694e643

--- a/main.cpp	Fri Oct 25 10:34:09 2019 +0000
+++ b/main.cpp	Fri Oct 25 10:35:11 2019 +0000
@@ -49,7 +49,7 @@
 //PwmOut *E = pointer to speed contorl pin of motor
 //QEI *Enc = pointer to encoder of motor
 //float rotDes = desired rotation
-/*void moveMotorTo(DigitalOut *M, PwmOut *E, QEI *Enc, float initRot, float rotDes)
+void moveMotorTo(DigitalOut *M, PwmOut *E, QEI *Enc, float initRot, float rotDes)
 {
     float pErrorC;
     float pErrorP = 0;
@@ -91,7 +91,7 @@
         pc.printf("pError: %f iError: %f dError: %f\n\r", pErrorC, iError, dError);
     } while (pErrorC > 0.001 || pErrorC < -0.001 ||dError > 0.01 || dError < -0.01);
     t.stop();
-}*/
+}
 
 
 //double that calculates the rotation of one arm.
@@ -145,10 +145,10 @@
         pc.printf("to go angle: %i / %i \n\r", i, xPath.size());
     }
 
-    /*for(int i = 0; i < xPath.size(); i++) {
+    for(int i = 0; i < xPath.size(); i++) {
         moveMotorTo(&M1, &E1, &Enc1, initRot1, rot1Path.at(i));
         moveMotorTo(&M2, &E2, &Enc2, initRot2, rot2Path.at(i));
         pc.printf("to go move: %i / %i", i, rot1Path.size());
-    }*/
+    }
 }