Revision 5:868e652f26af, committed 2015-05-11

Comitter:

ericoneill

Date:

Mon May 11 03:40:59 2015 +0000

Parent:

4:8ee76f6d32b5

Commit message:

cleaned code a little

Changed in this revision

--- a/main.cpp	Mon May 11 02:00:33 2015 +0000
+++ b/main.cpp	Mon May 11 03:40:59 2015 +0000
@@ -167,10 +167,7 @@
     
     t.start();
     
-    if(dataCol){
-        loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime = 0;
-        printTimer.start();
-    }
+ 
     //uint16_t* data = camData.read();
     while(1) {
         if(dataCol){
@@ -180,12 +177,7 @@
             }
         }
         if(integrationCounter % 151== 0){
-            /*
-            //Disable interrupts
-            interrupt.fall(NULL);
-            interrupt.rise(NULL);
-            */
-            
+           
             //Send start of integration signal
             si = 1;
             clk = 1;
@@ -208,9 +200,6 @@
             //Start Timer
             //t.start();
             
-            //Enable interrupts
-            //interrupt.fall(&fallInterrupt);
-            //interrupt.rise(&riseInterrupt);
             tele_time_ms = t.read_ms();
             for (uint16_t i=0; i<128; i++) {
                 tele_linescan[i] = (uint8_t) (ADCdata[i] * 128);
@@ -225,7 +214,6 @@
                         maxLoc = c;
                     }
                 }
-                
                 for (int c = 10; c < 118; c++) {
                         if (ADCdata[c] <= maxVal && maxVal - ADCdata[c] < maxValThresh){
                             maxAccum += c;
@@ -267,74 +255,24 @@
                     }
                 }
             }
-            /*
-            //Check if we need to alter integration time due to brightness
-            if (maxVal < 0.15f){
-                intTimMod += 10;
-            } else if (maxVal >= 1) {
-                if (intTimMod > 0) {
-                    intTimMod -= 10;
-                }
-            }
-            */
-            
             //Line Crossing Checks
             if (space) {
                 currDir = prevDir;
                 firstTime = true;
             } else {
-                approxPos = (float)maxAccum/(float)maxCount;
-
-                if(dataCol){
-                    if(loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime%3==0){
-                        lineCenters[loopCtr] = approxPos;
-                        times[loopCtr] = printTimer.read_ms();
-                        loopCtr++;
-                    }
-                }
-                
+                approxPos = (float)maxAccum/(float)maxCount;                
                 currDir = hardLeft + (approxPos)/((float) 118)*(hardRight-hardLeft);
                 prevApproxPos = approxPos;
 
-            }
-/*
-            if (turnSpeedControl){
-                //Change speed when turning at different angles
-                if(approxPos > 0 && approxPos <= 45){
-                        motor1.pulsewidth(motorPeriod*(pulsewidth*2.0f));
-                        motor2.pulsewidth(motorPeriod*(pulsewidth*2.0f));
-                } else if (approxPos > 45 && approxPos <= 55){
-                        motor1.pulsewidth(motorPeriod*pulsewidth*1.5f);
-                        motor2.pulsewidth(motorPeriod*pulsewidth*1.5f);
-                } else if (approxPos > 55 && approxPos <= 85){
-                        motor1.pulsewidth(motorPeriod*pulsewidth);
-                        motor2.pulsewidth(motorPeriod*pulsewidth);
-                } else if (approxPos > 85 && approxPos <= 95){
-                        motor1.pulsewidth(motorPeriod*pulsewidth*1.5f);
-                        motor2.pulsewidth(motorPeriod*pulsewidth*1.5f);
-                } else {
-                    motor1.pulsewidth(motorPeriod*(pulsewidth*2.0f));
-                    motor2.pulsewidth(motorPeriod*(pulsewidth*2.0f));
-                }
-           }
-*/           
+            }         
             servo.pulsewidth(currDir);
             
-            //Start Velocity control after requisite number of encoder signals have been collected
-            //if(numInterrupts >= 4){
-                //velocity_control(0.1f, TUNING_CONSTANT_10);
-            //}        
-            
             //Save current direction as previous direction
             prevDir = currDir;
             
             //Prepare to start collecting more data
             integrationCounter = 150;
             
-            //Disable interrupts
-            //interrupt.fall(NULL);
-            //interrupt.rise(NULL);
-            
             //Stop timer
             //t.stop();                
         }
@@ -345,30 +283,10 @@
             clk = 0;
         }
 
-        //clk = 0;
-        integrationCounter++;
-        if(dataCol){
-            loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime++;
-        }
-        //camData.
         telemetry_obj.do_io();
 
         
     }
-/*
-    if (dataCol){
-        //print frame data
-        pc.printf("printing frame data\n\r");
-        //int frameSize = frames.size();
-        //pc.printf("%i",frameSize);
-        pc.printf("[");
-        for(int i=0; i<numData; i++){
-            if(lineCenters > 0){
-                pc.printf("%i %i,",lineCenters[i], times[i]);
-            }
-        }
-        pc.printf("]\n\r");
-    }
-    */
+
 }