Diff: deprecatedMethods.cpp

Revision:

14:9e7bb03ddccb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/deprecatedMethods.cpp	Sat May 13 23:49:02 2017 +0000
@@ -0,0 +1,202 @@
+//void turnLeft(){
+//    double speed0 = 0.15;
+//    double speed1 = 0.15;
+//    double kp = 0.01;
+//
+//    int counter = 0;
+//    
+//    int initialCount0 = encoder0.getPulses();
+//    int initialCount1 = encoder1.getPulses();
+//
+//    double desiredCount0 = initialCount0 - desiredCountL;
+//    double desiredCount1 = initialCount1 + desiredCountL;
+//
+//    int count0 = initialCount0;
+//    int count1 = initialCount1;
+//
+//    double error0 = count0 - desiredCount0;
+//    double error1 = count1 - desiredCount1;
+//
+//    while(1){
+//
+//        if(!(abs(error0) < 1) && !(abs(error1) < 1)){
+//            count0 = encoder0.getPulses();
+//            count1 = encoder1.getPulses();
+//
+//            error0 = count0 - desiredCount0; 
+//            error1 = count1 - desiredCount1; 
+//
+//            speed0 = error0 * kp + speed0;
+//            speed1 = error1 * kp + speed1;
+//
+//            right_motor.move(speed0);
+//            left_motor.move(speed1);
+//            counter = 0;
+//        }else{
+//            counter++;
+//            right_motor.brake();
+//            left_motor.brake();
+//        }
+//
+//        if (counter > 60){
+//            break;
+//        }
+//     }
+//
+//    right_motor.brake();
+//    left_motor.brake();
+//}
+//
+//void turnRight() { //e1 should be negative encoder0 is left, encoder1 is right
+//    double speed0 = 0.15;
+//    double speed1 = 0.15;
+//    double kp = 0.01;
+//
+//    int counter = 0;
+//    
+//    int initialCount0 = encoder0.getPulses();
+//    int initialCount1 = encoder1.getPulses();
+//
+//    double desiredCount0 = initialCount0 + desiredCountR;
+//    double desiredCount1 = initialCount1 - desiredCountR;
+//
+//    int count0 = initialCount0;
+//    int count1 = initialCount1;
+//
+//    double error0 = count0 - desiredCount0;
+//    double error1 = count1 - desiredCount1;
+//
+//    while(1){
+//
+//        if(!(abs(error0) < 1) && !(abs(error1) < 1)){
+//            count0 = encoder0.getPulses();
+//            count1 = encoder1.getPulses();
+//
+//            error0 = count0 - desiredCount0; // moves forward
+//            error1 = count1 - desiredCount1; // moves backwards
+//
+//            speed0 = error0 * kp + speed0;
+//            speed1 = error1 * kp + speed1;
+//
+//            right_motor.move(speed0);
+//            left_motor.move(speed1);
+//            counter = 0;
+//        }else{
+//            counter++;
+//            right_motor.brake();
+//            left_motor.brake();
+//        }
+//
+//        if (counter > 60){
+//            break;
+//        }
+//        
+//        // serial.printf("ERROR=> 0:%f, 1:%f, SPEED=> 0:%f, 1:%f\n", error0, error1, speed0, speed1);
+//        // serial.printf("Pulse Count=> e0:%d, e1:%d      \r\n", encoder0.getPulses(), encoder1.getPulses());
+//    }
+//
+//    right_motor.brake();
+//    left_motor.brake();
+//}
+//
+//
+//void turnLeft180(){
+//    double speed0 = 0.15;
+//    double speed1 = 0.15;
+//    double kp = 0.01;
+//
+//    int counter = 0;
+//    
+//    int initialCount0 = encoder0.getPulses();
+//    int initialCount1 = encoder1.getPulses();
+//
+//    double desiredCount0 = initialCount0 - 3000;
+//    double desiredCount1 = initialCount1 + 2700;
+//
+//    int count0 = initialCount0;
+//    int count1 = initialCount1;
+//
+//    double error0 = count0 - desiredCount0;
+//    double error1 = count1 - desiredCount1;
+//
+//    while(1){
+//
+//        if(!(abs(error0) < 1) && !(abs(error1) < 1)){
+//            count0 = encoder0.getPulses();
+//            count1 = encoder1.getPulses();
+//
+//            error0 = count0 - desiredCount0; 
+//            error1 = count1 - desiredCount1; 
+//
+//            speed0 = error0 * kp + speed0;
+//            speed1 = error1 * kp + speed1;
+//
+//            right_motor.move(speed0);
+//            left_motor.move(speed1);
+//            counter = 0;
+//        }else{
+//            counter++;
+//            right_motor.brake();
+//            left_motor.brake();
+//        }
+//
+//        if (counter > 60){
+//            break;
+//        }
+//     }
+//
+//    right_motor.brake();
+//    left_motor.brake();
+//}
+//
+//void turnRight180(){
+//    double speed0 = 0.15;
+//    double speed1 = 0.15;
+//    double kp = 0.01;
+//
+//    int counter = 0;
+//    
+//    int initialCount0 = encoder0.getPulses();
+//    int initialCount1 = encoder1.getPulses();
+//
+//    double desiredCount0 = initialCount0 + desiredCountR*2;
+//    double desiredCount1 = initialCount1 - desiredCountR*2;
+//
+//    int count0 = initialCount0;
+//    int count1 = initialCount1;
+//
+//    double error0 = count0 - desiredCount0;
+//    double error1 = count1 - desiredCount1;
+//
+//    while(1){
+//
+//        if(!(abs(error0) < 1) && !(abs(error1) < 1)){
+//            count0 = encoder0.getPulses();
+//            count1 = encoder1.getPulses();
+//
+//            error0 = count0 - desiredCount0; // moves forward
+//            error1 = count1 - desiredCount1; // moves backwards
+//
+//            speed0 = error0 * kp + speed0;
+//            speed1 = error1 * kp + speed1;
+//
+//            right_motor.move(speed0);
+//            left_motor.move(speed1);
+//            counter = 0;
+//        }else{
+//            counter++;
+//            right_motor.brake();
+//            left_motor.brake();
+//        }
+//
+//        if (counter > 60){
+//            break;
+//        }
+//        
+//        // serial.printf("ERROR=> 0:%f, 1:%f, SPEED=> 0:%f, 1:%f\n", error0, error1, speed0, speed1);
+//        // serial.printf("Pulse Count=> e0:%d, e1:%d      \r\n", encoder0.getPulses(), encoder1.getPulses());
+//    }
+//
+//    right_motor.brake();
+//    left_motor.brake();
+//}
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