Diff: main.cpp

Branch:

michi

Revision:

95:af4821333ddb

Parent:

94:7cf17f2eaa28

Child:

98:73a9b8833e57

--- a/main.cpp	Wed May 04 08:38:43 2022 +0200
+++ b/main.cpp	Wed May 04 08:57:50 2022 +0200
@@ -287,8 +287,6 @@
 
         ir_distance_mm_L= mapping(ir_analog_in_Distance_L.read()*1.0e3f * 3.3f);
         ir_distance_mm_R= mapping(ir_analog_in_Distance_R.read()*1.0e3f * 3.3f);
-        float ir_distance_mm_Lookdown_B= mapping(ir_analog_in_Lookdown_B.read()*1.0e3f * 3.3f);
-        float ir_distance_mm_Lookdown_F= mapping(ir_analog_in_Lookdown_F.read()*1.0e3f * 3.3f);
 
         if (ToNextFunction >= 1)
         {
@@ -324,7 +322,7 @@
             case 4: 
             state = lift_up();
             printf("Case 3: Position ARM (rot): %3.3f\n",positionController_M_Arm.getRotation());
-            if (((state==1) && (StepDetection_down(ir_distance_mm_Lookdown_B))) && (StepDetection_down(ir_distance_mm_Lookdown_F)))
+            if (((state==1) && (StepDetection_down(ir_analog_in_Lookdown_B))) && (StepDetection_down(ir_analog_in_Lookdown_F)))
             {
                     ToNextFunction += 1;
             }
@@ -332,7 +330,7 @@
 
             case 5: 
             state = drive_straight(drive_back_mm);
-            if ((state == 1) && (StepDetection_down(ir_distance_mm_Lookdown_B) != 1))
+            if ((state == 1) && (StepDetection_down(ir_analog_in_Lookdown_B) != 1))
             {
                 ToNextFunction += 1;
             }