Diff: Kalman/IR/IR.cpp

Revision:

7:f9c59a3e4155

Parent:

5:7ac07bf30707

--- a/Kalman/IR/IR.cpp	Fri Apr 27 14:29:56 2012 +0000
+++ b/Kalman/IR/IR.cpp	Fri Apr 27 16:37:26 2012 +0000
@@ -32,24 +32,17 @@
 
 void IR::vIRValueISR (void) {
 
-
-
-
     // A workaround for mbed UART ISR bug
     // Clear the RBR flag to make sure the interrupt doesn't loop
     // UART3 for the port on pins 9/10, UART2 for pins 28/27, and UART1 for pins 13/14.
     // UART0 for USB UART
+
 #ifdef ROBOT_PRIMARY
     unsigned char RBR = LPC_UART3->RBR;
 #else
     unsigned char RBR = LPC_UART1->RBR;
 #endif
 
-    //printf("%#x/n", RBR);
-
-    OLED3 = !OLED3;
-    return;
-
     // bytes packing/unpacking for IR turret serial comm
     static union IRValue_t {
         float IR_floats[3];
@@ -76,10 +69,7 @@
         if (buff_pointer >= 12) {
             buff_pointer = 0;
             data_flag = false; // dessert the dataflag
-
-
-
-            /*
+        
             if (angleInit) {
                 kalman.runupdate(Kalman::measurement_t(IRValues.IR_ints[0]+3),rectifyAng(IRValues.IR_floats[1] - angleOffset),IRValues.IR_floats[2]);
             } else {
@@ -89,8 +79,6 @@
                 //only update the IRMeasures used by kalman init
                 kalman.IRMeasures[IRValues.IR_ints[0]] = IRValues.IR_floats[1];
             }
-            */
-
 
         }