Diff: navigation.cpp

Revision:

3:27cc2bacd6af

Parent:

2:17bd430aeca1

Child:

4:a5d44517c65c

--- a/navigation.cpp	Wed Jan 27 20:48:42 2016 +0000
+++ b/navigation.cpp	Wed Feb 17 16:47:15 2016 +0000
@@ -200,34 +200,28 @@
             {
                 /* do nothing */
             }
-int returnVal = 0;              
+                
             /* send -(differenceAngle) to motors */
-            returnVal = drive.move(0, ((-differenceAngle)*(PI / 180.0)) );
-            pc.printf("\nChanged angle %f degrees to %f", differenceAngle, targetAngle);
-pc.printf("\n   ReturnVal = %i\n", returnVal);           
+            int returnVal = drive.move(0, ((-differenceAngle)*(PI / 180.0)) );
+            pc.printf("\nChanged angle %f degrees to %f", differenceAngle, targetAngle);          
+            
             // wait for move to complete
             while(!drive.isMoveDone())
             {
-pc.printf("\n   Value of isMoveDone = %i", drive.isMoveDone());
-pc.printf("\n   leftSteps - %i", drive.getLeftSteps() );
-pc.printf("\n   rightSteps - %i", drive.getRightSteps() );
-                wait(1);
+                wait(1e-6);
             }
         }
-int returnVal = 0;       
+      
         /* send targetDist to motors */
-        returnVal = drive.move(targetDist, 0);
+        int returnVal = drive.move(targetDist, 0);
         pc.printf("\nMoved forward a distance of %f to node %i", targetDist, target);
-pc.printf("\n   ReturnVal = %i\n", returnVal);
+
         // wait for move to complete
         while(!drive.isMoveDone())
         {
-pc.printf("\n   Value of isMoveDone = %i", drive.isMoveDone());
-pc.printf("\n   leftSteps - %i", drive.getLeftSteps() );
-pc.printf("\n   rightSteps - %i", drive.getRightSteps() );
-            wait(1);
+            wait(1e-6);
         }
-pc.printf("\n   Made it past the wait for move to complete");
+        
         vertex = target;
         angle = targetAngle;
     }