Diff: main.cpp

Revision:

28:aec0d9bdb949

Parent:

27:3430dfb4c9fb

Child:

29:d8e51f4cf080

--- a/main.cpp	Tue Oct 30 09:13:59 2018 +0000
+++ b/main.cpp	Tue Oct 30 09:17:31 2018 +0000
@@ -42,9 +42,6 @@
 QEI         Encoder3(D13,D12,NC,4200);      // Counterclockwise motor rotation is the positive direction
 Ticker      motor;
 Ticker      encoders;
-HIDScope    scope(2);
-Ticker      HIDTicker;
-
 
 // Global variables
 const float     pi = 3.14159265358979;
@@ -55,22 +52,8 @@
 const double    Ki = 1.02;  // given value is 1.02
 //const double    Ts = 0.0025; // Sample time in seconds
 
-volatile float  x;
-volatile float  xprev = 0;
-volatile float  y;
-
 // Functions
-void ShowHIDScope()
-{   x = pot1;
-    scope.set(0,x);
-    y = (xprev+x)/2.0;
-    scope.set(1,y);
-    xprev = x;
-    
-    scope.send(); 
-}
-
-/*    //Subfunctions
+    //Subfunctions
     int Counts1input()
     {   int     counts1;
         counts1 = Encoder1.getPulses();
@@ -100,7 +83,7 @@
     
     double  ErrorCalc(double yref,double CurAngle)
     {   double  error = yref - CurAngle;
-        return error;
+        return  error;
     }
             
     double  Pcontroller(double yref,double CurAngle)
@@ -192,7 +175,7 @@
     pin5.period(0.1);
     pin6.period(0.1);
     motor.attach(turn1,dt);
-    HIDTicker.attach(ShowHIDScope,dt);
+
     emergencybutton.rise(Emergency);              //If the button is pressed, stop program
             
     while   (true)