Diff: main.cpp

Revision:

36:077fe5b3189b

Parent:

35:ba556f2d0fcc

Child:

38:681100ce5fb8

--- a/main.cpp	Wed Oct 31 10:22:04 2018 +0000
+++ b/main.cpp	Wed Oct 31 10:24:01 2018 +0000
@@ -130,11 +130,6 @@
             return  angle;
         }
         
-        float DesiredAngler()        // Sets the desired angle for the controller dependent on the scaled angle of potmeter 1
-        {   float   angle = (pot2*2.0f*pi)-pi;
-            return  angle;
-        }        
-        
 float*    turnl()    // main function for movement of motor 1, all above functions with an extra tab are called
 {   
     //float   refvalue = pi/4.0f;
@@ -157,28 +152,6 @@
     return outcome;
 }
 
-float*    turnr()    // main function for movement of motor 1, all above functions with an extra tab are called
-{   
-    //float   refvalue = pi/4.0f;
-    float   refvalue = DesiredAngler();                             // different minus sign per motor
-    int     counts = Countsrinput();                               // different encoder pins per motor
-    float   currentangle = CurrentAngle(counts);                  // different minus sign per motor
-    float   PIDcontrol = PIDcontroller(refvalue,currentangle);   // same for every motor
-    float   error = ErrorCalc(refvalue,currentangle);            // same for every motor
-    
-    pin6 = fabs(PIDcontrol);                                       // different pins for every motor
-    pin7 = PIDcontrol > 0.0f;                                      // different pins for every motor
-    //pin6 = 0.4+0.6*fabs(PIDcontr);     //geschaald
-    //pin6 = fabs(PIDcontr)/pi;
-    //pc.printf("     error:  %f      ref: %f     angle:  %f \r\n",error,refvalue,currentangle);
-    float*  outcome;
-    float   turninfo[3] = {error, refvalue, currentangle};
-    //float ( &fillarr( float (&outcome)[3] ) )[3] { // no decay; argument must be size 3
-    outcome = turninfo;
-    
-    return outcome;
-}
-
 float ActualPosition(int counts, int offsetcounts)      // After calibration, this function is used to return the counts (and thus the angle of the system) to 0
 {   float MotorPosition = - (counts - offsetcounts) / fCountsRad;
     // minus sign to correct for direction convention
@@ -203,13 +176,7 @@
         float motorl2 = motoroutcomel[1];
         float motorl3 = motoroutcomel[2];
         
-        //float* motoroutcomer = turnr();
-        //float motorr1 = motoroutcomer[0];
-        //float motorr2 = motoroutcomer[1];
-        //float motorr3 = motoroutcomer[2];
-        
         pc.printf("     error1:  %f      ref1: %f     angle1:  %f \r\n",motorl1,motorl2,motorl3);
-        //pc.printf("     error1:  %f      ref1: %f     angle1:  %f \r\n",motorr1,motorr2,motorr3);
         wait(dt);
         //wait(dt*10);
         //wait(printingfreq);  --> still needs to be defined