From 9b7ee85b352b7bee6b8872ee878b68be866c398c Mon Sep 17 00:00:00 2001
From: RicardoEA <ricardo@focus.uy>
Date: Tue, 17 Jan 2023 23:21:31 -0300
Subject: [PATCH] Clean code
---
Robotito/src/control/control.c | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/Robotito/src/control/control.c b/Robotito/src/control/control.c
index c6c2176..e78a2dc 100644
--- a/Robotito/src/control/control.c
+++ b/Robotito/src/control/control.c
@@ -26,7 +26,7 @@ static void getW(sF3dVector_t* v, float phi){
m.x3 = sin(pi_3 + phi);
m.y3 = -cos(pi_3 + phi);
m.z3 = ROBOT_RADIUS;
- printf("En getW previo a MatMul: Vx= %.15f \t Vy= %.15f \t Vz= %.15f \n",v->x,v->y,v->z );
+ //printf("En getW previo a MatMul: Vx= %.15f \t Vy= %.15f \t Vz= %.15f \n",v->x,v->y,v->z );
vector_mul(m, v);
}
@@ -57,7 +57,7 @@ static void callback_motors_pid(){
float current_v = m->vel_counter / OMNI_PID_CTRL_TIMER; // compute curren motor vel in counts/s
m->vel_counter = 0; // reset counter
- printf("motor %i, target_v: %f, current_v: %f\n", i, m->target_v, current_v);
+ //printf("motor %i, target_v: %f, current_v: %f\n", i, m->target_v, current_v);
float error = m->target_v - current_v; // compute error
@@ -145,7 +145,7 @@ esp_err_t omni_init(){
mcpwm_io_signals_t pwm_b = default_pwm_subunit_io[2*i+1];
mcpwm_timer_t timer_unit = default_pwm_subunit_timer[i];
- printf("Setting motor %d pins:%d,%d enc:%d,%d", i, pin1, pin2, encA, encB);
+ //printf("Setting motor %d pins:%d,%d enc:%d,%d", i, pin1, pin2, encA, encB);
motor_h_t *m;
motor_install(pin1,pin2, MOTOR_PWM_UNIT, pwm_a, pwm_b, timer_unit, &m);
@@ -161,7 +161,7 @@ esp_err_t omni_init(){
//saving encoder structure
motors[i].encoder=e;
- printf(" done\r\n");
+ //printf(" done\r\n");
motors[i].target_v=0;
}
--
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