1 files changed, 0 insertions, 99 deletions
diff --git a/code/debug/motors/with-pid/with-pid.ino b/code/debug/motors/with-pid/with-pid.ino
deleted file mode 100644
index ce8e811..0000000
--- a/code/debug/motors/with-pid/with-pid.ino
+++ /dev/null
@@ -1,99 +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 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");
-
-}
-
-void updatePWM() {
-  //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 = ; //enter output from PID algorith here
-  digitalWrite(m1enB, LOW);
-  digitalWrite(m1pwm1, HIGH);
-  digitalWrite(m1pwm2, LOW);
-}
-
-//the loop routine runs over and over again forever:
-void loop() {
-  drive(50); //speed value between 0-100
-  Serial.println("Motor one is at: "+ ONErpm + " RPM.");
-  delay(50);
-}