From 3cf7c928ebaa740f9f6b22725683f5919d57f53e Mon Sep 17 00:00:00 2001
From: Dawn Hustig-Schultz <dhustigs@ucsc.edu>
Date: Fri, 29 Apr 2016 17:25:06 -0700
Subject: [PATCH] Delete tgCPGGeneralCableControl.cpp

No longer using this app.
---
 .../tgCPGGeneralCableControl.cpp              | 121 ------------------
 1 file changed, 121 deletions(-)
 delete mode 100644 src/dev/dhustigschultz/BP_SC_SymmetricSpiral_All/tgCPGGeneralCableControl.cpp

diff --git a/src/dev/dhustigschultz/BP_SC_SymmetricSpiral_All/tgCPGGeneralCableControl.cpp b/src/dev/dhustigschultz/BP_SC_SymmetricSpiral_All/tgCPGGeneralCableControl.cpp
deleted file mode 100644
index b884f3798..000000000
--- a/src/dev/dhustigschultz/BP_SC_SymmetricSpiral_All/tgCPGGeneralCableControl.cpp
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * Copyright © 2012, United States Government, as represented by the
- * Administrator of the National Aeronautics and Space Administration.
- * All rights reserved.
- * 
- * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
- * under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- * http://www.apache.org/licenses/LICENSE-2.0.
- * 
- * Unless required by applicable law or agreed to in writing,
- * software distributed under the License is distributed on an
- * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
- * either express or implied. See the License for the specific language
- * governing permissions and limitations under the License.
-*/
-
-#include "tgCPGGeneralCableControl.h"
-
-#include "core/tgSpringCableActuator.h"
-#include "core/tgBulletSpringCableAnchor.h"
-#include "core/tgBasicActuator.h"
-#include "controllers/tgImpedanceController.h"
-#include "controllers/tgPIDController.h"
-#include "core/tgCast.h"
-#include "util/CPGEquations.h"
-#include "dev/CPG_feedback/CPGEquationsFB.h"
-
-// The C++ Standard Library
-#include <iostream>
-#include <stdexcept>
-#include <vector>
-
-tgCPGGeneralCableControl::tgCPGGeneralCableControl(tgPIDController::Config pid_config, const double controlStep) :
-m_config(pid_config),
-tgCPGGeneralActuatorControl(controlStep),
-m_PID(NULL),
-usePID(true)
-{
-    if (m_controlStep < 0.0)
-    {
-        throw std::invalid_argument("Negative control step");
-    }
-}
-
-tgCPGGeneralCableControl::~tgCPGGeneralCableControl()
-{
-    delete m_PID;
-}
-
-void tgCPGGeneralCableControl::onSetup(tgSpringCableActuator& subject)
-{
-    m_PID = new tgPIDController(&subject, m_config);
-    
-    tgBasicActuator* basicAct =  tgCast::cast<tgSpringCableActuator, tgBasicActuator>(&subject);
-    
-    if (basicAct != NULL)
-    {
-        usePID = false;
-    }
-}
-
-void tgCPGGeneralCableControl::onStep(tgSpringCableActuator& subject, double dt)
-{
-    assert(&subject == m_PID->getControllable());
-    
-    m_controlTime += dt;
-	m_totalTime += dt;
-
-    if (m_controlTime >= m_controlStep)
-    {
-        if (usePID)
-        {
-            m_commandedTension = motorControl().control(*m_PID, dt, controlLength(), getCPGValue());
-        }
-        else
-        {
-            tgBasicActuator* basicAct =  tgCast::cast<tgSpringCableActuator, tgBasicActuator>(&subject);
-            m_commandedTension = motorControl().control(*basicAct, dt, controlLength(), getCPGValue());
-        }
-        m_controlTime = 0;
-    }
-    else
-    {
-		const double currentTension = subject.getTension();
-        if(usePID)
-        {
-            m_PID->control(dt, m_commandedTension, currentTension);
-        }
-        else
-        {
-            tgBasicActuator* basicAct =  tgCast::cast<tgSpringCableActuator, tgBasicActuator>(&subject);
-            basicAct->moveMotors(dt);
-        }
-	}
-}
-
-void tgCPGGeneralCableControl::assignNodeNumberFB (CPGEquationsFB& CPGSys, array_2D nodeParams)
-{
-    // Ensure that this hasn't already been assigned
-    assert(m_nodeNumber == -1);
-    
-    m_pCPGSystem = &CPGSys;
-
-    std::vector<double> params (11);
-    params[0] = nodeParams[0][0]; // Frequency Offset
-    params[1] = nodeParams[0][0]; // Frequency Scale
-    params[2] = nodeParams[0][1]; // Radius Offset
-    params[3] = nodeParams[0][1]; // Radius Scale
-    params[4] = 1.0; // rConst (a constant)
-    params[5] = 0.0; // dMin for descending commands
-    params[6] = 5.0; // dMax for descending commands
-    params[6] = 5.0; // dMax for descending commands
-    params[7] = nodeParams[0][0]; // Omega (initialize variable)
-    params[8] = nodeParams[0][2]; // Frequency feedback
-    params[9] = nodeParams[0][3]; // Amplitude feedback
-    params[10] = nodeParams[0][4]; // Phase feedback
-    
-    m_nodeNumber = CPGSys.addNode(params);
-}