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Cleanup, use printf

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This commit is contained in:
Oleg Kalachev 2023-05-24 11:22:59 +03:00
parent 17edd0ee00
commit 1125335b16
3 changed files with 1 additions and 20 deletions
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2
flix/imu.ino
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@ -17,7 +17,7 @@ void setupIMU()
auto status = IMU.begin(); auto status = IMU.begin();
if (status < 0) { if (status < 0) {
while (true) { while (true) {
Serial.print("IMU begin error: "); Serial.println(status); Serial.printf("IMU begin error: %d\n", status);
delay(1000); delay(1000);
} }
} }

18
flix/time.ino
View File

@ -26,21 +26,3 @@ void step() {
stepsPerSecondCurrentLast = time; stepsPerSecondCurrentLast = time;
} }
} }
void _step() {
steps++;
auto currentStepTime = micros();
if (stepTime == 0) {
stepTime = currentStepTime;
}
dt = (currentStepTime - stepTime) / 1000000.0;
stepTime = currentStepTime;
// compute steps per second, TODO: move to func
stepsPerSecondCurrent++;
if (stepTime - stepsPerSecondCurrentLast >= 1000000) {
stepsPerSecond = stepsPerSecondCurrent;
stepsPerSecondCurrent = 0;
stepsPerSecondCurrentLast = stepTime;
}
}

1
gazebo/flix.h
View File

@ -30,7 +30,6 @@ Quaternion attitude;
void control(); void control();
void interpretRC(); void interpretRC();
static void controlAttitude(); static void controlAttitude();
static void controlAttitudeAlter();
static void controlManual(); static void controlManual();
static void controlRate(); static void controlRate();
void desaturate(float& a, float& b, float& c, float& d); void desaturate(float& a, float& b, float& c, float& d);