Diff: main.cpp

Revision:

56:e8d568d455a0

Parent:

55:b297e064ebd9

--- a/main.cpp	Fri Nov 02 09:01:23 2018 +0000
+++ b/main.cpp	Fri Nov 02 09:23:28 2018 +0000
@@ -532,7 +532,7 @@
         pin7 = PIDControlL > 0.0f;                                              // different pins for every motor
     } else if (fabs(errorL) < 0.01f) {
         countsOffsetL = countsL;
-        countsL = countsL - countsOffsetL + countsCalibration;
+        //countsL = countsL - countsOffsetL + countsCalibration;
         //countsL = 0;
         pin6 = 0.0f;
         // BUTTON PRESS: TO NEXT STATE
@@ -599,7 +599,7 @@
         pin4 = PIDControlR > 0.0f;                                              // different pins for every motor
     } else if (fabs(errorR) < 0.01f) {
         countsOffsetR = countsR;
-        countsR = countsR - countsOffsetR + countsCalibration;
+        //countsR = countsR - countsOffsetR + countsCalibration;
         //countsR = 0;
         pin5 = 0.0f;
         // BUTTON PRESS: TO NEXT STATE
@@ -945,7 +945,7 @@
             /* */
             ReadUseEMG0();                  //Start the use of EMG
             ReadUseEMG1();                  //Start the use of EMG
-            //pc.printf("theta1 and 4: %f \t\t %f \n\r",theta1,theta4);
+            pc.printf("theta1 and 4: %f \t\t %f \n\r",theta1,theta4);
             //kinematics();
             motorTurnL();
             motorTurnR();