From aefed82ba41c5f5175e44b968b0f076ed4fd0a38 Mon Sep 17 00:00:00 2001
From: Thefeli73 <thefeli73@hotmail.com>
Date: Thu, 15 Apr 2021 16:55:16 +0200
Subject: [PATCH] remove code from temp lqr, remove unused lines

---
 EENX15_LQR/EENX15_LQR.ino |  3 ---
 EENX15_LQR/LQR.ino        | 23 -----------------------
 2 files changed, 26 deletions(-)

diff --git a/EENX15_LQR/EENX15_LQR.ino b/EENX15_LQR/EENX15_LQR.ino
index d04b5fb..28256a6 100644
--- a/EENX15_LQR/EENX15_LQR.ino
+++ b/EENX15_LQR/EENX15_LQR.ino
@@ -143,9 +143,6 @@ void printInfo(){
   Serial.print("Rads rotated: "); Serial.println(countA/8.91); //ca. 56 tick per rotation, 6.26 rads per rotation
   Serial.print("RPM: "); Serial.println(rpm); //ca. 56 tick per rotation
   Serial.print("Rads per second: "); Serial.println(rps); //ca. 56 tick per rotation, 6.26 rads per rotation
-  
-  //Serial.print("A: "); Serial.println(countA);
-  //Serial.print("B: "); Serial.println(countB);
 }
 
 void setSpeed(){
diff --git a/EENX15_LQR/LQR.ino b/EENX15_LQR/LQR.ino
index e0f1b09..e69de29 100644
--- a/EENX15_LQR/LQR.ino
+++ b/EENX15_LQR/LQR.ino
@@ -1,23 +0,0 @@
-/** Control Law*/
-const float K[statesNumber] = {0.55192, 8.9867, 0.194, 0.39237};
-
-//K from our calculation
-//const float K[statesNumber] = {-31.6228, -21.2864, 80.7894, 13.4246};
-
-/** Correction factor */
-const float scaleConst = 2.5;
-
-/**
- * LQR control law
- */
-void lqr() {
-  speed = 0;
-  
-  speed -= motorAngularPosition * K[0];
-  speed -= correctedAngularPosition * K[1];
-  speed -= motorAngularSpeed * K[2];
-  speed -= angularSpeed * K[3];
-
-  speed = speed*scaleConst;
- 
-}