Diff: main.cpp

Revision:

13:c62f975dfcfe

Parent:

12:3b26fcc7da7e

Child:

14:4839989ae907

--- a/main.cpp	Wed Mar 23 16:25:48 2016 +0000
+++ b/main.cpp	Wed Mar 23 18:12:47 2016 +0000
@@ -3,8 +3,8 @@
 #include "WATCHDOG.h"
 
 
-#define SPEED_TURN_MIN  0.20
-#define SPEED_TURN_MAX  0.35
+#define SPEED_TURN_MIN  0.30
+#define SPEED_TURN_MAX  0.45
 #define SPEED_FB_MIN    0.15
 #define SPEED_FB_MAX    0.50
 
@@ -18,10 +18,6 @@
 LOCALIZE loc(i2c1, i2c2, p26);
 LOCALIZE_xya xya;
 
-DigitalIn sw1(p20);
-DigitalIn sw2(p19);
-DigitalIn sw3(p18);
-DigitalIn sw4(p17);
 DigitalOut dir1(p15);
 DigitalOut dir2(p16);
 
@@ -30,11 +26,6 @@
 PwmOut motor2F(p23);
 PwmOut motor2B(p24);
 
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-DigitalOut led3(LED3);
-DigitalOut led4(LED4);
-
 Ticker t;
 bool flag=false;
 
@@ -54,19 +45,11 @@
     motor2B=0;
     //pc.printf("Initialized Localization: %d\n",loc.init());
     t.attach(&send,1);
-    sw1.mode(PullUp);
-    sw2.mode(PullUp);
-    sw3.mode(PullUp);
-    sw4.mode(PullUp);
     while(1) {
-        led1=!sw1;
-        led2=!sw2;
-        led3=!sw3;
-        led4=!sw4;
         //loc.get_angle(&xya);
         loc.get_xy(&xya);
         //pc.printf("X: %3d\tY: %3d\tP: %3d\n",xya.x,xya.y,xya.a);
-        setAngle(170);
+        //setAngle(0);
         wdt.kick();
     }
 }