1 files changed, 0 insertions, 233 deletions
diff --git a/code/debug/motors/base_drive/src/main.cpp b/code/debug/motors/base_drive/src/main.cpp
deleted file mode 100644
index 1130afe..0000000
--- a/code/debug/motors/base_drive/src/main.cpp
+++ /dev/null
@@ -1,233 +0,0 @@
-
-//motor: https://www.pololu.com/product/4861
-//motor driver: https://www.pololu.com/product/2997
-
-//Create the timers
-IntervalTimer pwm_timer;
-IntervalTimer enc_timer;
-
-//define the pins
-//If the motors are spinning incorectly, change pins not the drive function.
-int led = 13;
-
-int m1enA = 6;
-int m1enB = 5;
-int m1pwm1 = 4;
-int m1pwm2 = 3;
-int m1encoA = 32;
-int m1encoB = 31;
-
-int m2enA = 12;
-int m2enB = 11;
-int m2pwm1 = 9;
-int m2pwm2 = 10;
-int m2encoA = 30;
-int m2encoB = 29;
-
-int m3enA = 27;
-int m3enB = 26;
-int m3pwm1 = 24;
-int m3pwm2 = 25;
-int m3encoA = 28;
-int m3encoB = 23;
-
-//PWM variables
-int pwmacc = 100; //how accurate the PWM is, means you can enter value from 0 to the value of pwmacc
-int PWMval1 = 0;  //value of the PWM1, means you can enter value from 0 to the value of pwmacc
-
-//encoder variables
-const int refreshrate = 50; //refresh rate of the encoder
-volatile long oneENCcount = 0; //the amount of pulses from motor one encoder
-
-double ONErpm = 0.00; //the amount of revolutions motor one makes per minute
-
-
-
-void setup() {
-  pinMode(m1enA, OUTPUT);
-  pinMode(m1enB, OUTPUT);
-  pinMode(m1pwm1, OUTPUT);
-  pinMode(m1pwm2, OUTPUT);
-
-  pwm_timer.begin(updatePWM, refreshrate); //speed at wich PWM is updated PWM
-  enc_timer.begin(enc_refr, 50);  //refresh rate of the encoder
-
-  attachInterrupt(digitalPinToInterrupt(m1encoA), AoneIRS, CHANGE); //calls void AoneIRS if there is a change of the stare of m1encoA
-  attachInterrupt(digitalPinToInterrupt(m1encoB), BoneIRS, CHANGE); //ditto
-
-  Serial.begin(9600);
-  Serial.print("start");
-  SetTunings(1, 1, 1);
-
-}
-
-void updatePWM() {
-  int counter1 = 0;
-  //PWM one
-  //if the entered valvue is less the zero set it to zero, because lower that zero is not posible
-  if (PWMval1 < 0) {
-    PWMval1 = 0;
-  }
-  //if the enterd value is higher than the maximum posible value, set it to max.
-  if (PWMval1 > pwmacc) {
-    PWMval1 = pwmacc;
-  }
-  //check if the counter has passed the PWM value, and turn of the motor based on that.
-  if (counter1 < PWMval1) {
-    digitalWrite(m1enA, HIGH);
-  } else {
-    digitalWrite(m1enA, LOW);
-  }
-  counter1++;
-
-  if (counter1 >= pwmacc) {
-    counter1 = 0;
-  }
-}
-
-void AoneIRS(){
-  oneENCcount++; //adds one to the count
-}
-void BoneIRS(){
-  oneENCcount++; //dieselbe
-}
-
-void enc_refr(){
-  //calculate RPM. It gets updated 48 times per rotation.
-  ONErpm = (oneENCcount/48.00) * (60000000.00 / refreshrate);
-  //reset the counting to zero for next cycle.
-  oneENCcount = 0;
-}
-void PID(int speed){
-  Serial.println(ONErpm);
-  PWMval1 = Compute(); //enter output from PID algorith here
-  digitalWrite(m1enB, LOW);
-  digitalWrite(m1pwm1, HIGH);
-  digitalWrite(m1pwm2, LOW);
-}
-
-/*working variables*/
-unsigned long lastTime;
-double Input, Output, Setpoint;
-double errSum, lastErr;
-double kp, ki, kd;
-int Compute()
-{
-  Input = ONErpm;
-  /*How long since we last calculated*/
-  unsigned long now = millis();
-  double timeChange = (double)(now - lastTime);
- 
-  /*Compute all the working error variables*/
-  double error = Setpoint - Input;
-  errSum += (error * timeChange);
-  double dErr = (error - lastErr) / timeChange;
- 
-/*Compute PID Output*/
- 
-/*Remember some variables for next time*/
-  lastErr = error;
-  lastTime = now;
-  return kp * error + ki * errSum + kd * dErr;
-}
- 
-void SetTunings(double Kp, double Ki, double Kd)
-{
-kp = Kp;
-ki = Ki;
-kd = Kd;
-}
-
-//the loop routine runs over and over again forever:
-void loop() {
-  drive(50, 0); //speed value between 0-100
-  //Serial.println("Motor one is at: " + ONErpm + " RPM.");
-  delay(50);
-}
-
-void drive(int speed, int direction){
- //
- // Direction............|.Motor 1.|.Motor 2.|.Motor 3.
- // 0deg(forward)........|....0....|....-....|....+....
- // 60deg................|....+....|....-....|....0....
- // 120deg...............|....+....|....0....|....-....
- // 180 deg (backward)...|....0....|....+....|....-....
- // 240 deg..............|....-....|....+....|....0....
- // 300 deg..............|....-....|....0....|....+....
- //
-
-  digitalWrite(m1enA, HIGH);
-  digitalWrite(m2enA, HIGH);
-  digitalWrite(m3enA, HIGH);
-  digitalWrite(m1enB, LOW);
-  digitalWrite(m2enB, LOW);
-  digitalWrite(m3enB, LOW);
-  Serial.println("debug2");
-  Serial.println(direction);
-  if(direction>330 || direction<=30){
-    //0 deg
-    digitalWrite(m1pwm1, HIGH);
-    digitalWrite(m1pwm2, LOW);
-
-    digitalWrite(m2pwm1, LOW);
-    digitalWrite(m2pwm2, LOW);
-
-    digitalWrite(m3pwm1, HIGH);
-    digitalWrite(m3pwm2, LOW);
-    Serial.println("0 deg");
-  }else if (direction>30 && direction <= 90){
-    //60 deg
-    Serial.println("60deg");
-    digitalWrite(m1pwm1, LOW);
-    digitalWrite(m1pwm2, LOW);
-
-    digitalWrite(m2pwm1, LOW);
-    digitalWrite(m2pwm2, HIGH);
-
-    digitalWrite(m3pwm1, LOW);
-    digitalWrite(m3pwm2, HIGH);
-  }else if (direction>90 && direction <= 150){
-    //120 deg
-    Serial.println("120 deg");
-    digitalWrite(m1pwm1, HIGH);
-    digitalWrite(m1pwm2, LOW);
-    digitalWrite(m2pwm1, HIGH);
-    digitalWrite(m2pwm2, LOW);
-    digitalWrite(m3pwm1, LOW);
-    digitalWrite(m3pwm2, LOW);
-  }else if (direction > 150 && direction <= 210) {
-    //180 degrees
-    Serial.println("on 180");
-    digitalWrite(m1pwm1, LOW);
-    digitalWrite(m1pwm2, HIGH);
-
-    digitalWrite(m2pwm1, LOW);
-    digitalWrite(m2pwm2, LOW);
-
-    digitalWrite(m3pwm1, LOW);
-    digitalWrite(m3pwm2, HIGH);
-  }else if (direction > 210 && direction <= 270) {
-    //240 degrees
-    digitalWrite(m1pwm1, LOW);
-    digitalWrite(m1pwm2, LOW);
-
-    digitalWrite(m2pwm1, HIGH);
-    digitalWrite(m2pwm2, LOW);
-
-    digitalWrite(m3pwm1, LOW);
-    digitalWrite(m3pwm2, HIGH);
-  }else if (direction > 270 && direction <= 330) {
-    //300 degrees
-    digitalWrite(m1pwm1, HIGH);
-    digitalWrite(m1pwm2, LOW);
-
-    digitalWrite(m2pwm1, HIGH);
-    digitalWrite(m2pwm2, LOW);
-
-    Serial.println("300deg");
-    digitalWrite(m3pwm1, LOW);
-    digitalWrite(m3pwm2, LOW);
-  }else{
-    Serial.println("how?");
-  }
-}