Revision 10:2a1abbd2c84c, committed 2020-05-23

Comitter:

gr66

Date:

Sat May 23 18:09:23 2020 +0000

Parent:

9:2a16e3930e1d

Commit message:

20:09

Changed in this revision

diff -r 2a16e3930e1d -r 2a1abbd2c84c main.cpp
--- a/main.cpp	Sat May 23 17:37:14 2020 +0000
+++ b/main.cpp	Sat May 23 18:09:23 2020 +0000
@@ -25,7 +25,6 @@
 AnalogIn verin(PC_3);  // lecture pos verin
 AnalogOut ana (PA_5);   // pour debug analogique ISR
 Motor motor(PB_4,PA_1,PA_4,PC_7);
-Timer tt;
 Ticker tic;
 
 int flag_affich=0;
@@ -62,8 +61,6 @@
     a0=1./(1+(2*RC/dt));   //calcul du coefficient a du filtre
     b0=(1-(2.*RC/dt))*a0;    //calcul du coefficient b du filtre
     a1=a0*RC*1.0;           //calcul du coefficient a du filtre
-    //dt=tt.read_us()/1000000.0;
-    //tt.reset();
     DOF.readAccel();
     DOF.readGyro();
 #if viti
@@ -71,38 +68,33 @@
 #else
     ang=((180/pi)*atan2((double)DOF.ay,(double)DOF.az)-ang_off);       // sur table
 #endif
-
     // filtres complémentaires
     angle_acce_pred = angle_acce;
     angle_acce=ang;
     angle_acce_f_pred = angle_acce_f;
     angle_acce_f=a0*angle_acce+a0*angle_acce_pred-b0*angle_acce_f_pred;      //filtrage accéléromètre
-
+//
     gyroy_pred = gyroy;
 #if viti
     gyroy=DOF.gz-gz_off;  //sur site
 #else
     gyroy=-DOF.gx-gx_off;  //sur table
 #endif
-
+//
     angle_gyroy_f_pred = angle_gyroy_f;
     angle_gyroy_f=a1*gyroy+a1*gyroy_pred-b0*angle_gyroy_f_pred;
     //
     angle_final=angle_acce_f+angle_gyroy_f;
     ana=0.0;
 }
-
+//
 int main()
 {
-    //pc.printf("Hello World 1\r\n");
-    //dt=dt0;
-    //tt.start();
     wait(1);
     DOF.begin();
     wait(1);
     DOF.calibration();
     wait(1);
-    //tt.reset();
     thread.start(callback(&queue,&EventQueue::dispatch_forever));
     tic.attach(queue.event(&calcul),dt);
     while(1) {
@@ -120,7 +112,6 @@
         //pr.unlock();
         ana=0.0;
         wait(0.095);
-
     }
 }