merge

src/main.cpp

@@ -14,17 +14,6 @@ void runPid(){
  // next update all control outputs
   for (int i=0;i<numberOfPid;i++)
       pid[i]->updateControl();
-//Handle any chip errors after the critical timing
-<<<<<<< HEAD
- //for (int i=0;i<numberOfPid;i++)
-      if(pid[0]->encoder->error.status)
-        pid[0]->encoder->handleErrors();
-=======
-  // for (int i=0;i<numberOfPid;i++)
-  //     if(pid[i]->encoder->error.status)
-  //       pid[i]->encoder->handleErrors();
->>>>>>> 1c7e80a67149c5392c883f52c8119d793b79b7e5
-
 }
  int main() {
 
@@ -39,21 +28,13 @@ void runPid(){
    for (int i=0;i<numberOfPid;i++){
      pid[i]->state.config.Enabled=false;// disable PID to start with
    }
-<<<<<<< HEAD
    pidTimer.attach(&runPid, 0.004);
-=======
-   pidTimer.attach(&runPid, 0.001);
->>>>>>> 1c7e80a67149c5392c883f52c8119d793b79b7e5
    // capture 100 ms of encoders before starting
    wait_ms(100);
    for (int i=0;i<numberOfPid;i++){
      //reset after encoders have been updated a few times
      pid[i]->InitilizePidController();
-<<<<<<< HEAD
      //pid[i]->ZeroPID();// set the current encoder value to 0
-=======
-     pid[i]->ZeroPID();// set the current encoder value to 0
->>>>>>> 1c7e80a67149c5392c883f52c8119d793b79b7e5
                        // this should be replaced by calibration routine
      pid[i]->SetPIDEnabled( true);// Enable PID to start control
     }
@@ -71,11 +52,7 @@ void runPid(){
    pid[0]->startHomingLink( CALIBRARTION_home_velocity, 123);
    */
    float timeBetweenPrints = 2000;
-<<<<<<< HEAD
    float bounds = 800;
-=======
-   float bounds = 500;
->>>>>>> 1c7e80a67149c5392c883f52c8119d793b79b7e5
    RunEveryObject printer(0,1000);
    RunEveryObject setpoint(0,timeBetweenPrints);
    float iterator=0;
@@ -87,7 +64,6 @@ void runPid(){
         if(setpoint.RunEvery(current)>0){
           // sweep some setpoints
           if(direction)
-<<<<<<< HEAD
             iterator+=bounds/4;
           else
             iterator-=bounds/4;
@@ -98,18 +74,6 @@ void runPid(){
             pid[0]->state.Output,
             pid[0]->state.OutputSet
           );
-=======
-            iterator+=bounds/3;
-          else
-            iterator-=bounds/3;
-          if(iterator>bounds){
-            direction=false;
-          }
-          if(iterator<-bounds){
-            direction=true;
-          }
-
->>>>>>> 1c7e80a67149c5392c883f52c8119d793b79b7e5
           for (int i=0;i<numberOfPid;i++){
             //Interrupts need to be disabled to to avoid conflicts with pid objects
             __disable_irq();    // Disable Interrupts
@@ -120,17 +84,13 @@ void runPid(){
             __enable_irq();     // Enable Interrupts
 
           }
-<<<<<<< HEAD
           if(iterator>bounds){
             direction=false;
           }
           if(iterator<-bounds){
             direction=true;
           }
 
-=======
-          printf("\n\nUpdating setpoint %f\n\n",iterator);
->>>>>>> 1c7e80a67149c5392c883f52c8119d793b79b7e5
         }
 
       wait_ms(1);