1 files changed, 0 insertions, 82 deletions
diff --git a/CODE/debugprewk/debug/motordriver/PID_autotune/PID_autotune.ino b/CODE/debugprewk/debug/motordriver/PID_autotune/PID_autotune.ino
deleted file mode 100644
index ab99c50..0000000
--- a/CODE/debugprewk/debug/motordriver/PID_autotune/PID_autotune.ino
+++ /dev/null
@@ -1,82 +0,0 @@
-int enA = 1;
-int enB = 2;
-int pwm1 = 3;
-int pwm2 = 4;
-int encoA = 5;
-int encoB = 6;
-
-int speed = 1; // speed 0-1000
-
-double sp = 0.00;
-double rpm = 0.00;
-volatile long encount = 0;
-unsigned long Ltime = 0;
-unsigned long Ctime = 0;
-unsigned long Ptime = 0;
-
-int mess;
-
-void setup() {
-  pinMode(enA, OUTPUT);
-  pinMode(enB, OUTPUT);
-  pinMode(pwm1, OUTPUT);
-  pinMode(pwm2, OUTPUT);
-
-  pinMode(encoA, INPUT_PULLUP);
-  pinMode(encoB, INPUT_PULLUP);
-
-  attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE);
-  attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE);
-
-  Serial.begin(115200);
-  Serial.setTimeout(1);
-}
-
-void encoderISR() {
-  encount++;
-}
-
-void readenc() {
-  Ctime = micros();
-  Ptime = Ctime - Ltime;
-  Ltime = Ctime;
-  rpm = (encount / 211.2) * (60000000.0 / Ptime);
-  /*Serial.print("RPM: ");
-  Serial.print(rpm);
-  Serial.print("    Sample period:");
-  Serial.print(Ptime);
-  Serial.print("ms, encoder count:");
-  Serial.println(encount);
-  */
-
-  encount = 0;
-}
-void resetenc(){
-  Ctime = micros();
-  Ltime = Ctime;
-  encount = 0;
-}
-
-void move(int sped) {
-  sp = abs(sped)*2.55;
-  analogWrite(enA, sp);
-  digitalWrite(enB, LOW);
-  if (sped < 0) {
-    //Serial.print("back ");
-    digitalWrite(pwm1, LOW);
-    digitalWrite(pwm2, HIGH);
-  } else {
-    //Serial.print("forward ");
-    digitalWrite(pwm1, HIGH);
-    digitalWrite(pwm2, LOW);
-  } 
-  //Serial.println(sp);
-}
-
-void loop() {
-  while (!Serial.available());
-  mess = Serial.readString().toInt();
-  move(mess);
-  readenc();
-  Serial.print(rpm);
-}