Diff: controller.cpp

Revision:

49:a9ed4f4cdef7

Parent:

48:39f84359998a

Child:

56:58cbb056e4be

--- a/controller.cpp	Mon Oct 14 20:05:57 2019 +0000
+++ b/controller.cpp	Tue Oct 15 11:34:02 2019 +0000
@@ -13,19 +13,7 @@
         }
 
 */
-/*
-float * Filt(float P[], float Q[])
-{
 
-    static float coefficients[5];
-        coefficients[0] = (Q[0] * pow(K,2) + Q[1] * K + Q[2])/(P[0] * pow(K,2) + P[1] * K + P[2]);
-        coefficients[1] = (2 * Q[2] - 2 * Q[0] * pow(K,2))/(P[0] * pow(K,2) + P[1] * K + P[2]);
-        coefficients[2] = (Q[0] * pow(K,2) - Q[1] * K + Q[2])/(P[0] * pow(K,2) + P[1] * K + P[2]);
-        coefficients[3] = (2 * P[2] - 2 * P[0] * pow(K,2))/(P[0] * pow(K,2) + P[1] * K + P[2]);
-        coefficients[4] = (P[0] * pow(K,2) - P[1] * K + P[2])/(P[0] * pow(K,2) + P[1] * K + P[2]);
-    return coefficients;
-} 
-*/
 void BuildController(ControllerSettings& StrucName, float P[], float Q[])
 {
     
@@ -62,4 +50,5 @@
         float PA[] = {1,2,3};
         float QA[] = {4,5,6};
         BuildController(Set_EndAffector, PA, QA);
-}
\ No newline at end of file
+}
+