Diff: main.cpp

Revision:

22:68e3dc374488

Parent:

13:ec227b229f3d

--- a/main.cpp	Wed Nov 01 11:25:22 2017 +0000
+++ b/main.cpp	Fri Nov 03 10:16:54 2017 +0000
@@ -10,7 +10,6 @@
  
 // SERIAL COMMUNICATION WITH PC ////////////////////////////////////////////////
 MODSERIAL pc(USBTX, USBRX);
-HIDScope scope(4);
  
 // STATES //////////////////////////////////////////////////////////////////////
 enum states{MOTORS_OFF, MOVING, HITTING};
@@ -265,13 +264,6 @@
     else if(reference2 + msh[1]*tickerTs < motor2Min) reference2 = motor2Min;
     else reference2 = reference2 + msh[1]*tickerTs;
     
-    //Motor1Controller(), Motor2Controller();
-    scope.set(0,reference1);
-    scope.set(1,position1);
-    scope.set(2,reference2);
-    scope.set(3,position2);
-    scope.send();
-    
     pc.printf("position 1 %f, 2 %f \r\n", position1/2/pi*360, position2/2/pi*360);
     pc.printf("reference 1 %f, 2 %f \r\n", reference1/2/pi*360, reference2/2/pi*360);
     //pc.printf("msh*Ts 1 %f, 2 %f \r\n\n", msh[0]*emg_Ts, msh[1]*emg_Ts);