Diff: main.cpp

Revision:

69:34e97694f0ef

Parent:

67:1b5c8add3d01

Parent:

68:b15cab740371

Child:

70:311d32a596db

diff -r 1b5c8add3d01 -r 34e97694f0ef main.cpp
--- a/main.cpp	Thu Apr 13 17:57:31 2017 +0000
+++ b/main.cpp	Thu Apr 13 18:02:22 2017 +0000
@@ -43,7 +43,7 @@
     motor_init();
     servo_init();
     
-    bool isRegRead = false;
+    //bool isRegRead = false;
     
     
     ardu_utft_init();
@@ -58,31 +58,26 @@
     //imu_manager_begin_tick();
     //wait(0.5);
     
-    //timer.reset();
+    /*  DeltaTime Calculation
     timer.start();
     float timeWas = timer.read();
-    
+    */
     servo_set_angle(0.0f);
     
     float speedRatio = 1.0f;
     float lastAngle = 0.0f;
     float cornerRatio = 1.0f;
     
-    DebugCounter counter(10, PTE5);
+    //DebugCounter counter(10, PTE5);
     
     while (1) 
     {
+    /*  DeltaTime Calculation
         float deltaTime = timeWas;
         timeWas = timer.read();
         deltaTime = timeWas - deltaTime;
-        
-        //g_core.Update(deltaTime);
+    */
         
-        //if(!isRegRead && g_core.GetUSBServer().GetStatus() == SER_STAT_RUNNING && timer.read() > 2.5f && ardu_cam_is_capture_finished())
-        //{
-            //ardu_cam_print_debug();
-        //    isRegRead = true;
-        //}
         
         //ardu_cam_display_img_utft();
         image_processing();
@@ -94,7 +89,7 @@
             servo_set_angle(0.0f);
             motor_set_right_speed(-1.0f);
             motor_set_left_speed(-1.0f);
-            wait(0.5f);
+            wait(0.4f);
             motor_set_right_speed(0.0f);
             motor_set_left_speed(0.0f);
             return 0;
@@ -134,12 +129,7 @@
         {
             totalAngleDegrees = totalAngleDegrees * -1.0f;
         }
-        /*
-        if(totalAngleDegreesAbs >= 1.0f && totalAngleDegreesAbs <= 4.0)
-        {   
-            continue;
-        }
-        */
+        
         servo_set_angle(totalAngleDegrees);
         
         
@@ -190,9 +180,44 @@
             motor_set_left_speed(speedRatio * cornerRatio * 1.0f);
         }
 
+        lastAngle = totalAngleDegrees;
+    }
+}
+
+/*
+PwmOut servo(PTE20);
+ 
+int main() {
+    servo.period(0.020);          // servo requires a 20ms period
+    
+    while (1) {
+        for(float offset=0.0; offset<0.001; offset+=0.0001) {
+            servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
+            wait(0.25);
+        }
+    }
+    
+}
+*/
+
+/*  //code for accelerometer sensor.
+    const char regAddr = 0x0D;
+    char readValue = 0;
+    int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
+    int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
+    char buf[20];
+    sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
+    m_core.GetUSBServer().PushUnreliableMsg('D', buf);
+*/
+
+        //g_core.Update(deltaTime);
         
-        lastAngle = totalAngleDegrees;
-        
+        //if(!isRegRead && g_core.GetUSBServer().GetStatus() == SER_STAT_RUNNING && timer.read() > 2.5f && ardu_cam_is_capture_finished())
+        //{
+            //ardu_cam_print_debug();
+        //    isRegRead = true;
+        //}
+
         //LOGI("FPS: %f", 1 / deltaTime);
         
         //imu_manager_init();
@@ -211,7 +236,7 @@
         
         //LOGI("P: %5.3f, %5.3f, %5.3f ", PositionV->x, PositionV->y, PositionV->z);
         
-        counter.Update();
+        //counter.Update();
         
         /*
         //////// Steer Vehicle / Adjust Speed for Differential //////////
@@ -258,32 +283,4 @@
             motor_set_speeds(0.13f, 0.13f);
         }
         */
-        //wait(0.01);
-    }
-}
-
-/*
-PwmOut servo(PTE20);
- 
-int main() {
-    servo.period(0.020);          // servo requires a 20ms period
-    
-    while (1) {
-        for(float offset=0.0; offset<0.001; offset+=0.0001) {
-            servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
-            wait(0.25);
-        }
-    }
-    
-}
-*/
-
-/*  //code for accelerometer sensor.
-    const char regAddr = 0x0D;
-    char readValue = 0;
-    int result1 = m_sccbCtrl.write(0x1D<<1, &regAddr, 1, true);
-    int result2 = m_sccbCtrl.read(0x1D<<1, &readValue, 1, false);
-    char buf[20];
-    sprintf(buf, "%#x-%#x-%d-%d", regAddr, readValue, result1, result2);
-    m_core.GetUSBServer().PushUnreliableMsg('D', buf);
-*/
\ No newline at end of file
+        //wait(0.01);
\ No newline at end of file