Diff: main.cpp

Revision:

9:67ee46be0403

Parent:

8:72f260c467ad

Child:

10:85840c065e00

--- a/main.cpp	Tue Apr 24 09:13:59 2018 +0000
+++ b/main.cpp	Tue Apr 24 09:17:04 2018 +0000
@@ -53,13 +53,10 @@
 //------------------------------------------
 //LinearCharacteristics i2u(0.8f,-2.0f);
 LinearCharacteristics i2u(-2.0f,2.0f,0.0f,3.2f);
-LinearCharacteristics ax2ms2(0.2972f,0.7028f,-9.81,9.81);
-LinearCharacteristics ay2ms2(0.29866f,0.70134f,-9.81,9.81);
-LinearCharacteristics gz2om(4.6517f,1.4852f);
 //-------------DEFINE FILTERS----------------
 float tau = 1.0f;
-IIR_filter f_ax(tau,Ts,1.0f);        // filter ax signals
-IIR_filter f_ay(tau,Ts,1.0f);        // filter ay signals
+IIR_filter f_ax(tau,Ts);        // filter ax signals
+IIR_filter f_ay(tau,Ts);        // filter ay signals
 IIR_filter f_gz(tau,Ts,tau);        // filter gz signals
 
 //------------------------------------------
@@ -105,12 +102,9 @@
     */
     
     //float phi1 = atan2(-f_ax(ax2ms2(ax.read())),f_ay(ax2ms2(ay.read()))) + PI/4.0f + f_gz(gz2om(gz.read()*3.3f));
-    float fax = f_ax(ax2ms2(ax.read()));
-    float fay = f_ay(ay2ms2(ay.read()));
     if(++k >= 249){
         k = 0;
-        //pc.printf("Phi1: %1.5f \r\n",phi1);
-        pc.printf("f_ax: %1.5f f_ay: %1.5f  \r\n",fax,fay);
+        pc.printf("Some Output: %1.5f \r\n",PI);
     }
 }
 //******************************************************************************