![](/media/cache/profiles/altb_JGUSAOG.jpg.50x50_q85.jpg)
corrections altb2
Diff: ControllerLoop.cpp
- Revision:
- 3:8aa09988fa58
- Parent:
- 2:92c25cb669f4
--- a/ControllerLoop.cpp Tue Aug 24 08:51:13 2021 +0000 +++ b/ControllerLoop.cpp Tue Aug 24 12:34:00 2021 +0000 @@ -7,7 +7,7 @@ this->Ts = Ts; diff1.reset(0.0f,0); diff2.reset(0.0f,0); - is_initialized = false; + is_initialized = true; ti.reset(); ti.start(); data.laser_on = false; @@ -28,7 +28,7 @@ bool stop_rec = false; int k=0; - float Logg[2000][4]; //float datal[2000][6]; + //int vel1 = 5; //int vel2 =10; printf("Starting Controller \r\n"); @@ -88,12 +88,11 @@ //printf("p1: %f p2: %f pd1: %f pd2: %f id1: %f id2: %f\r\n",data.sens_phi[0],data.sens_phi[1],phi1_des,phi2_des,data.i_des[0],data.i_des[1]); }*/ - if(k==200 && !stop_rec) + if(k==N && !stop_rec) { stop_rec = true; - k=0; - - for(int k1=0; k1<2000; k1++) + + for(int k1=0; k1<N; k1++) { for(int k2=0; k2<4; k2++) { @@ -104,7 +103,7 @@ } } - if(k<2000 && !stop_rec) + if(k<N && !stop_rec) { Logg[k][0]=data.sens_phi[0]; Logg[k][1]=data.sens_phi[1];