Diff: main.cpp

Revision:

37:c61d7768c18a

Parent:

35:ba556f2d0fcc

Child:

39:dcf3e5019a63

--- a/main.cpp	Wed Oct 31 10:22:04 2018 +0000
+++ b/main.cpp	Wed Oct 31 10:41:37 2018 +0000
@@ -153,7 +153,6 @@
     float   turninfo[3] = {error, refvalue, currentangle};
     //float ( &fillarr( float (&outcome)[3] ) )[3] { // no decay; argument must be size 3
     outcome = turninfo;
-    
     return outcome;
 }
 
@@ -166,8 +165,8 @@
     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
+    pin5 = fabs(PIDcontrol);                                       // different pins for every motor
+    pin4 = 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);
@@ -175,7 +174,6 @@
     float   turninfo[3] = {error, refvalue, currentangle};
     //float ( &fillarr( float (&outcome)[3] ) )[3] { // no decay; argument must be size 3
     outcome = turninfo;
-    
     return outcome;
 }
 
@@ -194,22 +192,21 @@
     //float motoroutcome1 = motor.attach(turn1,dt);
     
     emergencybutton.rise(Emergency);              //If the button is pressed, stop program
-    //pin6 = 0.01; 
-            
+                
     while   (true)
     {   
-        float* motoroutcomel = turnl();
-        float motorl1 = motoroutcomel[0];
-        float motorl2 = motoroutcomel[1];
-        float motorl3 = motoroutcomel[2];
+        //float* motoroutcomel = turnl();
+        //float motorl1 = motoroutcomel[0];
+        //float motorl2 = motoroutcomel[1];
+        //float motorl3 = motoroutcomel[2];
         
-        //float* motoroutcomer = turnr();
-        //float motorr1 = motoroutcomer[0];
-        //float motorr2 = motoroutcomer[1];
-        //float motorr3 = motoroutcomer[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);
+        //pc.printf("     errorl:  %f      refl: %f     anglel:  %f \r\n",motorl1,motorl2,motorl3);
+        pc.printf("     errorr:  %f      refr: %f     angler:  %f \r\n",motorr1,motorr2,motorr3);
         wait(dt);
         //wait(dt*10);
         //wait(printingfreq);  --> still needs to be defined