Diff: main_processing/strategy/strategy.cpp

Revision:

30:26070ba1f21f

Parent:

29:b413b0bb07a1

Child:

31:0b0f64831771

--- a/main_processing/strategy/strategy.cpp	Mon Feb 01 11:25:32 2016 +0000
+++ b/main_processing/strategy/strategy.cpp	Mon Feb 01 11:43:58 2016 +0000
@@ -7,7 +7,6 @@
     int vx,vy,vs;
     uint8_t LineDir[4];
     uint8_t LineStop[2];
-    //uint8_t IrRange[4];
     if(data.IrFlag==1){
         ReadIr();
         data.IrFlag=0;
@@ -40,45 +39,6 @@
     LineStop[X_AXIS] = LineDir[A_SPOT]*LineDir[B_SPOT];
     LineStop[Y_AXIS] = LineDir[C_SPOT]*LineDir[AB_SPOT];
     
-    
-    /*
-    IrRange[A_SPOT] = (data.irPosition==19)||(data.irPosition==8)||(data.irPosition==9);
-    IrRange[B_SPOT] = (data.irPosition==13)||(data.irPosition==14)||(data.irPosition==15);
-    IrRange[C_SPOT] = (data.irPosition==16)||(data.irPosition==17)||(data.irPosition==18);
-    IrRange[AB_SPOT] = (data.irPosition==10)||(data.irPosition==11)||(data.irPosition==12);
-    */
-    /*
-    IrRange[A_SPOT] = ((18<=data.irPosition)&&(data.irPosition<=19))||((8<=data.irPosition)&&(data.irPosition<=10))
-                    ||((6<=data.irPosition)&&(data.irPosition<=7))||((                   1)&&(data.irPosition<=1));
-    IrRange[B_SPOT] = ((12<=data.irPosition)&&(data.irPosition<=16))||((2<=data.irPosition)&&(data.irPosition<=5));
-    IrRange[C_SPOT] = ((15<=data.irPosition)&&(data.irPosition<=19))||((4<=data.irPosition)&&(data.irPosition<=7));
-    IrRange[AB_SPOT] = ((9<=data.irPosition)&&(data.irPosition<=13))||((                 1)&&(data.irPosition<=3));
-    
-    data.LineBind[A_SPOT] = ((IrRange[A_SPOT]==1)&&((LineDir[A_SPOT]==0)||(data.LineBind[A_SPOT]==1)));
-    data.LineBind[B_SPOT] = ((IrRange[B_SPOT]==1)&&((LineDir[B_SPOT]==0)||(data.LineBind[B_SPOT]==1)));
-    data.LineBind[C_SPOT] = ((IrRange[C_SPOT]==1)&&((LineDir[C_SPOT]==0)||(data.LineBind[C_SPOT]==1)));
-    data.LineBind[AB_SPOT] = ((IrRange[AB_SPOT]==1)&&((LineDir[AB_SPOT]==0)||(data.LineBind[AB_SPOT]==1)));
-    */
-    
-    /*
-    if(data.LineBind[A_SPOT]||data.LineBind[B_SPOT]||data.LineBind[C_SPOT]||data.LineBind[AB_SPOT]){
-        //Line_timeout.attach();
-        vx=(LINE_RF*2)*((-1)*data.LineBind[A_SPOT] +      data.LineBind[B_SPOT]);
-        vy=(LINE_RF*2)*(     data.LineBind[C_SPOT] + (-1)*data.LineBind[AB_SPOT]);
-        if((LineDir[A_SPOT]==0)||(LineDir[B_SPOT]==0)||(LineDir[C_SPOT]==0)||(LineDir[AB_SPOT]==0)){
-            vx=(LINE_RF*2)*(-data.LineBind[A_SPOT] + data.LineBind[B_SPOT]);
-            vy=(LINE_RF*2)*(data.LineBind[C_SPOT] - data.LineBind[AB_SPOT]);
-        }
-        else{
-            vx=0;
-            vy=0;
-        }
-    }*/
-    /*if(data.LineBind[A_SPOT]||data.LineBind[B_SPOT]||data.LineBind[C_SPOT]||data.LineBind[AB_SPOT]){
-        vx=(LINE_RF*2)*((-1.0)*data.LineBind[A_SPOT]*(LineDir[A_SPOT]==0) +        data.LineBind[B_SPOT]*(LineDir[B_SPOT]==0));
-        vy=(LINE_RF*2)*(       data.LineBind[C_SPOT]*(LineDir[C_SPOT]==0) + (-1.0)*data.LineBind[AB_SPOT]*(LineDir[AB_SPOT]==0));
-        
-    }*/
     vs = data.OutputPID;
     /*
     //ForLineAll
@@ -92,7 +52,6 @@
         vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0)),
         vs
     );
-    
     if(data.MotorFlag==1){
         tx_motor();
         data.MotorFlag=0;