Diff: main.cpp

Revision:

34:599634375ba0

Parent:

31:bfb4629ca327

Child:

35:5857105c9956

--- a/main.cpp	Thu Mar 16 21:17:42 2017 +0000
+++ b/main.cpp	Thu Mar 16 21:38:57 2017 +0000
@@ -5,22 +5,10 @@
 #include "parser.h"
 #include <cmath>
 
-volatile uint8_t state = 0;
 volatile float w3 = 0;                  //Angular velocity
 volatile float duty = 0.5;
 volatile int count_i3 = 0;
-volatile int prev_count_i3 = -1;
-const float angularVelocities[29] = {0, 0, 0, 56.3705020, 153.953598, 
-221.162308, 436.561981, 652.034058, 669.472534, 671.117249, 703.662231, 
-704.767273, 695.868835, 676.609924, 689.303345, 685.318481, 680.420166, 
-681.527283, 683.529175, 700.758423, 742.759216, 737.354797, 733.224365, 
-716.746521, 714.952209, 717.483154, 723.597839, 727.788757, 727.957336};
 
-const float dutyCycles [29] = { 0, 0.05, 0.10, 0.15, 0.20, 0.25, 0.30, 0.35, 
-                                0.36, 0.37, 0.38, 0.39, 0.40, 0.41, 0.42, 0.43, 
-                                0.44, 0.45, 0.50, 0.55, 0.60, 0.65, 0.70, 0.75, 
-                                0.80, 0.85, 0.90, 0.95, 1};
-const float angle = 6.283;              //2*pi for 1 revolution
 Timer dt_I3;
 Timer motorTimer;
 Ticker controlTicker;
@@ -28,7 +16,6 @@
 volatile float fi0 = 0;                 //number of revs done
 volatile int goalRevs = 50;
 volatile float fi = 2*3.1415*goalRevs;
-volatile float goalW = 0;               //desired angular velocity
 volatile float accError = 0;
 volatile float prevError = 0;
 
@@ -75,13 +62,11 @@
     
     dt_I3.reset();
     count_i3++;
-    //PRINT("d")
 }
 
 void i_edge(){
    state = updateState();
    motorOut((state-orState+lead+6)%6, duty);
-   //PRINT("a")
 }  
 
 void CHA_rise(){
@@ -115,32 +100,12 @@
     state = updateState();
     motorTimer.start();
     motorOut((state-orState+lead+6)%6, 0.3f);            //Kickstart the motor
-    /*
-    while (motorTimer.read() < 30) {
-        motorOut((state-orState+1+6)%6, 0.75f);
-        wait(0.002);
-        motorOut((state-orState-1+6)%6, 0.75f);
-        wait(0.002);
-    }
-    stopMotor();  
-    */ 
+
     while (count_i3 <= goalRevs) {
-
-        pc.printf("Speed: %f, goal speed: %f, duty cycle: %f, revs done: %d \n\r",w3, goalW, duty, count_i3);
-        /*
-        if(duty < 0.00f) {
-            stopMotor();
-            return 0;    
-        }
-        
-        if(motorTimer.read() >= 30) {
-            stopMotor();
-            return 0;    
-        }
-        */
+        pc.printf("Speed: %f, duty cycle: %f, revs done: %d \n\r",w3, duty, count_i3);
     }
     while (abs(w3) > 10){
-        pc.printf("Speed: %f, goal speed: %f, duty cycle: %f, revs done: %d \n\r",w3, goalW, duty, count_i3);
+        pc.printf("Speed: %f, duty cycle: %f, revs done: %d \n\r",w3, duty, count_i3);
     }
     stopMotor();
     return 0;