Diff: main.cpp

Revision:

26:7e7c376a7446

Parent:

25:73c2eedb3b91

Child:

27:2456f68be679

--- a/main.cpp	Fri Feb 28 01:26:18 2014 +0000
+++ b/main.cpp	Fri Feb 28 01:40:39 2014 +0000
@@ -176,10 +176,6 @@
     lineTracker.calibratedMaximum[1] = 60110;
     lineTracker.calibratedMaximum[2] = 58446;
     
-    Timer foundLineTimer;
-    foundLineTimer.start();
-    bool foundLine = false;
-    
     GeneralDebouncer lineStatus(10000);
     while(1)
     {
@@ -189,21 +185,9 @@
         updateMotorsToDriveStraight();        
         lineStatus.update(lineTracker.getLineVisible());       
 
-        if (foundLine)
+        if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 100000)
         {
-            if(foundLineTimer.read_ms() >= 500)
-            {
-                // We found the line and traveled for a bit more, so now we can be done.
-                break;
-            }
-        }
-        else
-        {
-            if(lineStatus.getState() == true && lineStatus.getTimeInCurrentStateMicroseconds() > 150000)
-            {
-                foundLine = true;
-                foundLineTimer.start();
-            }
+            break;
         }
     }
 }
@@ -263,6 +247,9 @@
 
 void followLineToEnd()
 {
+    Timer timer;
+    timer.start();
+    
     GeneralDebouncer lineStatus(10000);
     const uint32_t lineDebounceTime = 100000;
     const int followLineStrength = 300;
@@ -275,14 +262,8 @@
         lineStatus.update(lineTracker.getLineVisible());
         
         bool lostLine = lineStatus.getState() == false &&
-          lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime;
-        
-        if(lostLine)
-        {
-            break;   
-        }
-        
-        if(lineTracker.getLineVisible())
+          lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime;        
+        if(lostLine && timer.read_us() >= 300000)
         {
             break;   
         }