Diff: main_processing/strategy/strategy.cpp

Revision:

38:a7eb15b1f813

Parent:

37:ae5661306900

Child:

40:f68474b1d5e7

--- a/main_processing/strategy/strategy.cpp	Wed Feb 03 09:14:49 2016 +0000
+++ b/main_processing/strategy/strategy.cpp	Wed Feb 03 11:31:03 2016 +0000
@@ -151,18 +151,6 @@
     vy = vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0));
     vs = data.OutputPID;
     if((LineBind[A_SPOT]==1)||(LineBind[B_SPOT]==1)||(LineBind[C_SPOT]==1)||(LineBind[AB_SPOT]==1)){
-        /*if(((LinePulse[A_SPOT]==1)||(LinePulse[B_SPOT]==1)||(LinePulse[C_SPOT]==1)||(LinePulse[AB_SPOT]==1))&&(LineReverseFlag==0)){
-            LineReverseFlag=1;
-            Line_timeout.attach(&LineReverse, 0.5);
-        }
-        if(LineReverseFlag==1){
-            vx+=(LINE_RF*2)*((-1)*LineBind[A_SPOT] +      LineBind[B_SPOT]);
-            vy+=(LINE_RF*2)*(     LineBind[C_SPOT] + (-1)*LineBind[AB_SPOT]);
-        }
-        else{
-            vx=0;
-            vy=0;
-        }*/
         if(RawLineSignal>0){
             vx=(LINE_RF*2)*((-1)*IrRange[A_SPOT] +      IrRange[B_SPOT]);
             vy=(LINE_RF*2)*(     IrRange[C_SPOT] + (-1)*IrRange[AB_SPOT]);
@@ -172,18 +160,11 @@
             vy=0;
         }
     }
-    
     move(
         vx,
         vy,
         vs
     );
-    /*
-    move(
-        vx*LineStop[X_AXIS] + (LINE_RF)*(vy!=0)*((-1)*(LineDir[A_SPOT]==0) + (LineDir[B_SPOT]==0)),
-        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;