Template for group 4

Dependencies:   mbed

Fork of RT2_P3_students by RT2_P3_students

Files at this revision

API Documentation at this revision

Comitter:
altb
Date:
Fri Apr 27 06:34:29 2018 +0000
Parent:
9:67ee46be0403
Commit message:
group 4, 1

Changed in this revision

LinearCharacteristics.cpp Show annotated file Show diff for this revision Revisions of this file
LinearCharacteristics.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
diff -r 67ee46be0403 -r 85840c065e00 LinearCharacteristics.cpp
--- a/LinearCharacteristics.cpp	Tue Apr 24 09:17:04 2018 +0000
+++ b/LinearCharacteristics.cpp	Fri Apr 27 06:34:29 2018 +0000
@@ -2,20 +2,3 @@
 
 using namespace std;
 
-LinearCharacteristics::LinearCharacteristics(float gain,float offset){    // standard lin characteristics
-    this->gain = gain;
-    this->offset = offset;
-}
-
-LinearCharacteristics::LinearCharacteristics(float xmin,float xmax, float ymin, float ymax){    // standard lin characteristics
-    this->gain = (ymax - ymin)/(xmax - xmin);
-    this->offset = xmax - ymax/this->gain;
-}
-
-LinearCharacteristics::~LinearCharacteristics() {}
-
-
-float LinearCharacteristics::evaluate(float x)
-{   
-return this->gain*(x - this->offset);
-    }
diff -r 67ee46be0403 -r 85840c065e00 LinearCharacteristics.h
--- a/LinearCharacteristics.h	Tue Apr 24 09:17:04 2018 +0000
+++ b/LinearCharacteristics.h	Fri Apr 27 06:34:29 2018 +0000
@@ -7,20 +7,13 @@
 
 class LinearCharacteristics{
      public:
-            LinearCharacteristics(float, float);
-            LinearCharacteristics(float, float, float, float);
-            float evaluate(float);
-            float operator()(float x){
-                return evaluate(x);
-                } 
-                //...
-                virtual     ~LinearCharacteristics();
                 // here: the calculation function
     
     private:
         // here: private functions and values...
-        float gain;
-        float offset;
+
+
+
 };
 
 
diff -r 67ee46be0403 -r 85840c065e00 main.cpp
--- 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