Diff: main.cpp

Revision:

35:5857105c9956

Parent:

34:599634375ba0

Parent:

30:e60fd3834ee7

Child:

36:747d80e3aca9

diff -r 599634375ba0 -r 5857105c9956 main.cpp
--- a/main.cpp	Thu Mar 16 21:38:57 2017 +0000
+++ b/main.cpp	Thu Mar 16 21:49:07 2017 +0000
@@ -19,20 +19,6 @@
 volatile float accError = 0;
 volatile float prevError = 0;
 
-float getDuty(float w){
-    for (int i = 0; i < 28; i++) {      //iterate through the angular velocities
-        if (w >= angularVelocities[i] && w <= angularVelocities[i+1]) {
-            if (w-angularVelocities[i] < angularVelocities[i+1]-w ) {
-                return dutyCycles[i];
-            }
-            else {
-                return dutyCycles[i+1];
-            }
-        }
-    }
-    return dutyCycles[28];
-}
-
 #define kp 0.0016f
 #define ki 0.0f //0.05f
 #define kd 0.00006f //0.5f
@@ -82,7 +68,7 @@
     motorHome();                        //Initialise motor before any interrupt
     
     dt_I3.start();                      //Start the time counters for velocity
-    
+
     controlTicker.attach(&control, dt);
     
     I1.rise(&i_edge);                   //Assign interrupt handlers for LEDs