Revision 26:a74edc4c6acb, committed 2014-12-08

Comitter:

alecguertin

Date:

Mon Dec 08 04:27:33 2014 +0000

Parent:

25:2c7717684d09

Child:

27:44a4a0abc8ee

Commit message:

cleaned up john's crap

Changed in this revision

--- a/main.c	Mon Dec 08 04:21:55 2014 +0000
+++ b/main.c	Mon Dec 08 04:27:33 2014 +0000
@@ -10,19 +10,17 @@
 #include "main.h"
 #include "control.h"
 
-/** 
- * These are global data Used externally in all other files 
- */
+/* These are global data Used externally in all other files */
 m3pi        pi;
 Timer       timer;
 
-//
-// Digital inputs to the mBed
+/* Digital inputs to the mBed */
 DigitalIn   start_button(p21);
 
-//
-// Digital outputs from the mBed. Note that by default these are
-// used to drive the 8 LED's on the top board. 
+/*
+ * Digital outputs from the mBed. Note that by default these are
+ * used to drive the 8 LED's on the top board. 
+ */
 DigitalOut  pin13(p13);
 DigitalOut  pin14(p14);
 DigitalOut  pin15(p15);
@@ -32,8 +30,7 @@
 DigitalOut  pin19(p19);
 DigitalOut  pin20(p20);
 
-// 
-// mBed onboard LEDs
+/* mBed onboard LEDs */
 DigitalOut  oled_1(LED1);
 DigitalOut  oled_2(LED2);
 DigitalOut  oled_3(LED3);
@@ -54,7 +51,6 @@
     int instbuflen = 250;
     char instbuf[instbuflen];
     
-    //
     // Basic setup information
     start_button.mode(PullUp);
         
@@ -64,72 +60,15 @@
     pi.locate(0,1);
     pi.printf("%f mV", pi.battery());
     wait(.5);
-    /* while(start_button) {
-        oled_2 = 1;
-        wait(.5);
-        pi.locate(0,0);
-        pi.printf("Ready");
-        oled_2 = 0;
-    } */
-    pi.cls();
-    pi.locate(0,0);
-    // pi.printf("GO!");
-    wait(.5);
-
-    /*
-    while(1) {
-        if(!start_button) {
-            pi.stop();
-            goto start;
-        } else {
-            goto calibrate;    
-        }
-    }
-    */
         
-    //
     // Drawing environment calibration.
     pi.sensor_auto_calibrate();
-    //pi.backward(DRIVE_SPEED);
     float   pos         = 0;
     float   over_thresh = 0.05;
     float   correction  = 0.2*DRIVE_SPEED;
     float   cal_time;
     wait(1);
-    /*
-    do {
-        pos = pi.line_position();
-        if(pos > over_thresh) {
-            pi.left_motor(-CAL_SPEED);
-            pi.right_motor(-CAL_SPEED+correction);
-        } else if(pos < -over_thresh) {
-            pi.right_motor(-CAL_SPEED);
-            pi.left_motor(-CAL_SPEED+correction);
-        } else {
-            pi.backward(CAL_SPEED);
-        }
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("P: %f", pos);
-    } while (pos != -1 && pos <= 0.3);
-    pi.stop();
-    wait(1);
-    
-    if (pos != -1) {
-        timer.start();
-        pi.forward(CAL_SPEED);
-    } else {
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("LP: %f",pos);
-        forward(1000);
-        goto calibrate;
-        return 1;
-    }
-    */
-    
-    // wait(1);
-    
+
     do {
         pos = pi.line_position();
         if(pos > over_thresh) {
@@ -189,16 +128,7 @@
     }
     pi.stop();
     timerWait(2);
-    /*
-    pos = pi.line_position();
-    do {
-        pi.backward(CAL_SPEED);
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("p:%f", pos);
-        pos = pi.line_position();
-    } while (pos != -1 && pos >= -0.25);
-    */
+
     backward(500);
     timerWait(.5);
     while(fabs(pos = pi.line_position()) > CLOSE_ENOUGH) {
@@ -209,96 +139,10 @@
     }
     pi.stop();
     timerWait(2);
-    /*
-    pos = pi.line_position();
-    do {
-        pi.forward(CAL_SPEED);
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("p:%f", pos);
-        pos = pi.line_position();
-    } while (pos <= -0.07);
-    timerWait(0.25);
-    pi.stop();
-    pos = pi.line_position();
-    while(fabs(pos) > CLOSE_ENOUGH) {
-        pi.right((pos < 0 ? -CAL_SPEED : CAL_SPEED));
-        timerWait(.08);
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("O: %f", pos);
-        pi.stop();
-        pos = pi.line_position();
-        timerWait(.2);
-    }
-    */
+
     timerWait(1);
-    //
-    // Pivot 180 degrees to go to the starting position.
-    /*
-    do {
-        pos = pi.line_position();
-        if(pos > over_thresh) {
-            pi.right_motor(-DRIVE_SPEED);
-            pi.left_motor(-DRIVE_SPEED+correction);
-        } else if(pos < -over_thresh) {
-            pi.left_motor(-DRIVE_SPEED);
-            pi.right_motor(-DRIVE_SPEED+correction);
-        } else {
-            pi.backward(DRIVE_SPEED);
-        }
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("P: %f", pos);
-    } while (pos != -1 && pos > -0.3);
-    pi.stop();
-    if(pos != -1) {
-        oled_1 = 1;
-        timer.stop();
-        cal_time = timer.read();
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("T: %d", timer.read_ms());
-    } else {
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("lP:%f", pos);
-        return 1;
-    }
-    */
-    /*
-    while(pi.line_position() == 1);
-    do {
-        pos = pi.line_position();
-        if(pos > over_thresh) {
-            pi.right_motor(DRIVE_SPEED);
-            pi.left_motor(DRIVE_SPEED - correction);
-        } else if(pos < -over_thresh) {
-            pi.left_motor(DRIVE_SPEED);
-            pi.right_motor(DRIVE_SPEED - correction);
-        } else {
-            pi.forward(DRIVE_SPEED);
-        }
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("Pos: %f", pos);
-    } while(pos != -1 && pos != 1);
-    if(pos == 1) {
-        oled_1 = 1;
-        timer.stop();
-        pi.stop();
-    } else {
-        pi.stop();
-        pi.cls();
-        pi.locate(0,0);
-        pi.printf("LP:%f", pos);
-        while(1);
-    }
-    */
     
-    //
     // Main program loop.
-    // robot_loop();
     size_t bytes_read = 0;
     int err, x, y, last_x, last_y, delta_x, delta_y;
     float delta_a;
@@ -352,10 +196,6 @@
         theta *= 57.29;
         delta_a = theta-angle;
         if (delta_x < 0 && delta_y < 0) {
-            //pi.cls();
-            //pi.locate(0,0);
-            //pi.printf("pland");
-            //timerWait(2);
             delta_a += 180;
         }
         angle += delta_a;
@@ -395,10 +235,6 @@
         cur = next+1;
         offset = instbuf+instbuflen-cur-1;
         memcpy(instbuf, cur, offset);
-        //pi.cls();
-        //pi.locate(0,0);
-        //pi.printf("%.08s", instbuf);
-        //timerWait(2);
     }
     pi.cls();
     pi.locate(0,0);