Revision 12:6d37ea71da65, committed 2017-02-27

Comitter:

j_j205

Date:

Mon Feb 27 12:02:07 2017 +0000

Parent:

11:ea1809fcc27c

Commit message:

removed debug print statements

Changed in this revision

--- a/navigation.cpp	Sat Apr 09 03:29:15 2016 +0000
+++ b/navigation.cpp	Mon Feb 27 12:02:07 2017 +0000
@@ -208,8 +208,6 @@
 
             /* send -(differenceAngle) to motors */
             int returnVal = drive.move(0, ((-differenceAngle)*(PI / 180.0)) );
-            pc.printf("\nChanged angle %f degrees to %f", differenceAngle, targetAngle);
-
             // wait for move to complete
             while(!drive.isMoveDone())
             {
@@ -219,7 +217,6 @@
 
         /* send targetDist to motors */
         drive.move(targetDist, 0);
-        pc.printf("\nMoved forward a distance of %f to node %i", targetDist, target);
         // wait for move to complete
         while(!drive.isMoveDone())
         {
@@ -231,8 +228,7 @@
         
         distLocalL = longRangeL.distInchesLOne();
         distLocalR = longRangeR.distInchesROne();
-        pc.printf("\n    distLocalL = %f", distLocalL);
-        pc.printf("\n    distLocalR = %f", distLocalR);        
+             
         if (distLocalL <= 18.0) // wall in range
         {
             newLocalizeRight();
@@ -293,7 +289,6 @@
         {
             wait(1e-6);
         }
-        pc.printf("\n    Adjusted angle more right, in localizeRight");
     }
         
     else if (distLocalL >= 6.9) // too close left, turn right
@@ -304,7 +299,6 @@
         {
             wait(1e-6);
         }
-        pc.printf("\n    Adjusted angle right, in localizeRight");
     }
     
     else if (distLocalL <= 5.5) // too close right, turn left
@@ -315,13 +309,11 @@
         {
             wait(1e-6);
         }
-        pc.printf("\n    Adjusted angle left , in localizeRight");
     }
     
     else
     {
         /* do nothing */
-        pc.printf("\n    No need to adjust, in localizeRight");
     }
 }
 
@@ -345,7 +337,6 @@
         {
             wait(1e-6);
         }
-        pc.printf("\n    Adjusted angle left, in localizeLeft");
     }
     
     else if (distLocalR <= 8.3) // too close left, turn right
@@ -356,13 +347,11 @@
         {
             wait(1e-6);
         }
-        pc.printf("\n    Adjusted angle right, in localizeLeft");
     }
     
     else
     {
         /* do nothing */
-        pc.printf("\n    No need to adjust, in localizeLeft");
     }
 }
 
@@ -385,7 +374,6 @@
         {
             wait(1e-6);
         }
-        pc.printf("\n    Adjusted angle left, in localizeRightReverse");
     }
     
     else if (distLocalL <= 6.2) // too close right, turn right
@@ -396,13 +384,11 @@
         {
             wait(1e-6);
         }
-        pc.printf("\n    Adjusted angle right, in localizeRightReverse");
     }
     
     else
     {
         /* do nothing */
-        pc.printf("\n    No need to adjust, in localizeRightReverse");
     }
 }
 
@@ -426,7 +412,6 @@
         {
             wait(1e-6);
         }
-        pc.printf("\n    Adjusted angle right, in localizeLeftReverse");
     }
     
     else if (distLocalR <= 8.3) // too close left, turn left
@@ -437,13 +422,11 @@
         {
             wait(1e-6);
         }
-        pc.printf("\n    Adjusted angle left, in localizeLeftReverse");
     }
     
     else
     {
         /* do nothing */
-        pc.printf("\n    No need to adjust, in localizeLeftReverse");
     }
 }
 
@@ -467,7 +450,6 @@
         wait(1e-6);
     }
     angle += angleAdjust;
-    pc.printf("\n    Adjusted angle by %f in newLocalize", angleAdjust);
 }
 
 // FUNCTION:
@@ -491,7 +473,6 @@
         wait(1e-6);
     }
     //angle += (-1*angleAdjust);
-    pc.printf("\n    Adjusted angle by %f in newLocalizeRight", -1*angleAdjust);
 }
 
 // FUNCTION:
@@ -514,7 +495,6 @@
         wait(1e-6);
     }
     //angle += (-1*angleAdjust);
-    pc.printf("\n    Adjusted angle by %f in newLocalizeLeft", -1*angleAdjust);
 }
 
 // FUNCTION:
@@ -537,7 +517,6 @@
         wait(1e-6);
     }
     //angle += (-1*angleAdjust);
-    pc.printf("\n    Adjusted angle by %f in newLocalizeLeftReverse", -1*angleAdjust);
 }
 
 // FUNCTION:
@@ -561,6 +540,5 @@
         wait(1e-6);
     }
     //angle += (-1*angleAdjust);
-    pc.printf("\n    Adjusted angle by %f in newLocalizeRight", -1*angleAdjust);
 }