MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

Diff: deprecatedMethods.cpp

Revision:
17:f713758f6238
Parent:
16:d9252437bd92
Child:
18:6a4db94011d3
--- a/deprecatedMethods.cpp	Sun May 14 20:58:55 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,202 +0,0 @@
-//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();
-//}
\ No newline at end of file