Amanda Ghassaei / Mbed 2 deprecated Bracky-MPU6050-DMP

bio robot

Dependencies:   MPU6050-DMP QEI_hw mbed-rpc mbed

Fork of MPU6050_Example by Shundo Kishi

Diff: Controls/Controls.h

Revision:
13:64d337c5114e
Parent:
12:49813131dd15
Child:
14:d620415259b1
--- a/Controls/Controls.h	Wed Dec 09 03:08:30 2015 +0000
+++ b/Controls/Controls.h	Wed Dec 09 03:25:22 2015 +0000
@@ -119,16 +119,12 @@
     
         void loop(){
 
-//            getActiveIMU().disableInterrupt();
-           // float z[4] = {1,2,3,4};
-//            _pc->printf("%f\n", calcTau(z, _parameters, &gains, _pc));
-            
+            getActiveIMU()->disableInterrupt();
+
             float tau = calcTau(_z, _parameters, &gains, &target, _pc);
-//            float tau = getTheta1();
-            
             motor.setTorque(tau);
             
-//            getActiveIMU().enableInterrupt();
+            getActiveIMU()->enableInterrupt();
         }
         
         MyMPU6050* getActiveIMU(){