Diff: main.cpp

Revision:

10:85840c065e00

Parent:

9:67ee46be0403

--- a/main.cpp	Tue Apr 24 09:17:04 2018 +0000
+++ b/main.cpp	Fri Apr 27 06:34:29 2018 +0000
@@ -51,13 +51,7 @@
 //------------------------------------------
 // ... here define variables like gains etc.
 //------------------------------------------
-//LinearCharacteristics i2u(0.8f,-2.0f);
-LinearCharacteristics i2u(-2.0f,2.0f,0.0f,3.2f);
 //-------------DEFINE FILTERS----------------
-float tau = 1.0f;
-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
 
 //------------------------------------------
 Ticker  ControllerLoopTimer;            // interrupt for control loop
@@ -66,10 +60,6 @@
 //------------------------------------------
 // ... here define instantiate classes
 //------------------------------------------
-PI_Cntrl vel_cntrl(0.5f,.05f,Ts,0.4f);
-//GPA gpa1(1.0f, 200.0f,      150,       4,      400, Ts, 10.0f, 0.3f);
-// GPA(t fMin, t fMax, NfexcDes, NperMin, NmeasMin, Ts, Aexc0, Aexc1)
-// ... define some linear characteristics -----------------------------------------
 
 // ----- User defined functions -----------
 void updateControllers(void);   // speed controller loop (via interrupt)
@@ -96,21 +86,12 @@
     float vel = diff(counts);           // motor velocity 
 
     
-    /*float torq_des = vel_cntrl(excWobble + w_soll - vel);
-    excWobble = gpa1(torq_des,vel);
-    out.write(i2u(torq_des/0.217f));     // the controller! convert torque to Amps km = 0.217 Nm/A
-    */
-    
-    //float phi1 = atan2(-f_ax(ax2ms2(ax.read())),f_ay(ax2ms2(ay.read()))) + PI/4.0f + f_gz(gz2om(gz.read()*3.3f));
-    if(++k >= 249){
+        if(++k >= 249){
         k = 0;
         pc.printf("Some Output: %1.5f \r\n",PI);
     }
 }
 //******************************************************************************
 //********** User functions like buttens handle etc. **************
-//******************************************************************************
-// pressed button
-//******************************************************************************
 
 //...
\ No newline at end of file