Diff: main.cpp

Revision:

11:cde87eaf3f0f

Parent:

10:d2907773f9a3

Child:

12:0849b16c2672

--- a/main.cpp	Fri Dec 04 09:38:25 2015 +0000
+++ b/main.cpp	Fri Dec 04 22:53:53 2015 +0000
@@ -4,9 +4,6 @@
 // set things
 Serial pc(SERIAL_TX, SERIAL_RX);
 Ticker Systicker;
-Timer timer;
-Ticker action_ticker;
-Ticker algorithm_ticker;
 
 PwmOut right_forward(PB_10);
 PwmOut right_reverse(PA_6);
@@ -110,8 +107,9 @@
 
 //time to make a 90 degree turn and move forward one cell length, repectively
 //should be replaced with encoder counts
-volatile int max_turn_count = 800;
-volatile int cell_length_count = 800;
+const int lmax_turn_count = 620; //I think we need different constants for left/right
+const int rmax_turn_count = 0;
+const int cell_length_count = 800;
     
 volatile int forward_counter = 0;
 
@@ -262,10 +260,10 @@
 
 void stop()
 {
-    left_forward = 1;
-    left_reverse = 1;
-    right_forward = 1;
-    right_reverse = 1;
+    left_forward = 0;
+    left_reverse = 0;
+    right_forward = 0;
+    right_reverse = 0;
 }
 
 void turn() {
@@ -278,7 +276,7 @@
     int left_pulses;
     int right_pulses;
     
-    while ( turn_counter < max_turn_count )
+    while ( turn_counter < lmax_turn_count )
     {
         left_pulses = l_enco.getPulses();
         right_pulses = r_enco.getPulses();
@@ -302,6 +300,7 @@
             default: 
                 // invalid state. did not set a turn direction.
                 mouse_state = STOPPED;
+                break;
         }
         
     }
@@ -331,29 +330,6 @@
     }
 }
     
-    
-void algorithm() { //moved to systick 
-        //encoder_reset();
-//        mouse_state = TURNING;
-//        turn_direction = LEFT;
-        //action_ticker.attach_us(&turn, 1000);
-        
-        /*if (opening_left_ahead || opening_right_ahead) {
-            action_ticker.attach_us(&move_cell, 1000);    
-        }
-        if (opening_left) {
-            mouse_state = TURNING;
-            turn_direction = LEFT;
-            action_ticker.attach_us(&turn, 1000);
-        }
-        if (opening_right) {
-            mouse_state = TURNING;
-            turn_direction = RIGHT;
-            action_ticker.attach_us(&turn, 1000);
-        }*/
-    
-}
-
 void setup()
 {
     eRS = 0;
@@ -371,8 +347,6 @@
     wait(2);
     
     Systicker.attach_us(&systick, 1000);
-    //action_ticker.attach_us(&turn, 1000);
-    //algorithm_ticker.attach_us(&algorithm, 1000);       let's try to stick with one ticker
 }
 
 int main() {