Diff: main.cpp

Revision:

34:b8b18ba0c336

Parent:

33:976be2825a23

Child:

35:63c890ac71ff

--- a/main.cpp	Fri Nov 02 11:57:51 2018 +0000
+++ b/main.cpp	Mon Nov 05 15:19:42 2018 +0000
@@ -350,16 +350,10 @@
 }
 void engine_control1()                                           //Engine 1 is translational engine, connected with left side pins
 {
-            //pc.printf("ik doe het, engine control 1\n\r");
         encoder_radians1 = (double)encoder1.getPulses()*(2.0*PI)/8400.0;
-            //pc.printf("encoder1 %f \n\r", (float)encoder1.getPulses());
-             //pc.printf("encoder_radians1 %f \n\r",(float) encoder_radians1);
         err1 = q1_motor - encoder_radians1;
-            //pc.printf("err1 = %f\n\r",err1);
         PID_control1();                               //PID controller function call
-        
-            //pc.printf("u1 = %f\n\r",u1);
-        
+                
         //if(encoder1.getPulses()<12000 && encoder1.getPulses()>-1)                              //limits translation in counts, eerst 12600
             //{
                  pwmpin1 = fabs(u1);                                         //u_total moet nog geschaald worden om in de motor gevoerd te worden!!!
@@ -433,11 +427,7 @@
 //------------------ Inversed Kinematics --------------------------------//
 
 void inverse_kinematics()
-{    
-       //pc.printf("v_x is %f en v_y is %f\n\r",v_x, v_y);
-    
-    //Lq1 = q1ref*r_trans;                            
-    //Cq2 = q2ref/5.0;                               
+{                              
 
     q1_dot = (v_x*cos(q2ref) + v_y*sin(q2ref))/cos(q2ref);               //RKI systeem  
     q2_dot = v_y/(L3*cos(q2ref));                                          //
@@ -539,7 +529,6 @@
         movag_tick.attach(&MovAg,T);
         func_tick.attach(&v_des_calculate_qref,T);                                              //v_des determined every T
         print_tick.attach(&printFunction,T2);
-           // HIDScope_tick.attach(&HIDScope_sample,T);                                         //EMG signals raw + filtered to HIDScope every T sec.
         
         button1.rise(switch_to_calibrate);                                                      //Switch state of calibration (which muscle)
         //wait(0.2f);                                                                           //Wait to avoid bouncing of button