Diff: main.cpp

Revision:

32:83a13b06093c

Parent:

31:739b91331f31

Child:

33:58a0ab6e9ad2

--- a/main.cpp	Tue Mar 04 03:04:00 2014 +0000
+++ b/main.cpp	Tue Mar 04 04:32:51 2014 +0000
@@ -38,13 +38,13 @@
     // Test routines
     //testMotors();
     //testEncoders();
-    testLineSensors();
+    //testLineSensors();
     //testReckoner();
     //testButtons();
     //testDriveHome();
     //testFinalSettleIn();
     //testCalibrate();
-    //testLineFollowing();
+    testLineFollowing();
     //testAnalog();
     //testSensorGlitches();
 
@@ -56,7 +56,6 @@
     setLeds(0, 1, 0, 0);
     
     findLine();
-    //findLineAndCalibrate();
     
     //setLeds(1, 1, 0, 0);
     //turnRightToFindLine();
@@ -72,12 +71,22 @@
 
 void loadCalibration()
 {
+    /** QTR-3RC **/
+    lineTracker.calibratedMinimum[0] =  100;
+    lineTracker.calibratedMinimum[1] =   94;
+    lineTracker.calibratedMinimum[2] =  103;
+    lineTracker.calibratedMaximum[0] =  792;
+    lineTracker.calibratedMaximum[1] =  807;
+    lineTracker.calibratedMaximum[2] = 1000;    
+    
+    /** QTR-3A
     lineTracker.calibratedMinimum[0] = 34872;
     lineTracker.calibratedMinimum[1] = 29335;
     lineTracker.calibratedMinimum[2] = 23845;
     lineTracker.calibratedMaximum[0] = 59726;
     lineTracker.calibratedMaximum[1] = 60110;
-    lineTracker.calibratedMaximum[2] = 58446;   
+    lineTracker.calibratedMaximum[2] = 58446;
+    **/
 }
 
 void updateReckonerFromEncoders()
@@ -139,21 +148,6 @@
     }
 }
 
-// Returns true if each line sensor has one third of a volt of difference between the
-// maximum seen value and the minimum.
-bool calibrationLooksGood()
-{
-    for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++)
-    {
-        uint16_t contrast = lineTracker.calibratedMaximum[s] - lineTracker.calibratedMinimum[s];
-        if (contrast < 9929)  // 0xFFFF*0.5/3.3 = 9929
-        {
-            return false;
-        }
-    }
-    return true;
-}
-
 void waitForSignalToStart()
 {
     while(!button1DefinitelyPressed())
@@ -219,42 +213,6 @@
     }
 }
 
-// THIS IS DEPRECATED.  Instead we are using loadCalibrationAndFindLine.
-void findLineAndCalibrate()
-{
-    Timer timer;
-    timer.start();
-    
-    Timer goodCalibrationTimer;
-    bool goodCalibration = false;
-    
-    while(1)
-    {
-        lineTracker.read();
-        lineTracker.updateCalibration();       
-        updateReckonerFromEncoders();        
-        updateMotorsToDriveStraight();
-        
-        if (goodCalibration)
-        {
-            if(goodCalibrationTimer.read_ms() >= 300)
-            {
-                // The calibration was good and we traveled for a bit of time after that,
-                // so we must be a bit over the line.
-                break;
-            }
-        }
-        else
-        {
-            if(calibrationLooksGood())
-            {
-                goodCalibration = true;
-                goodCalibrationTimer.start();
-            }
-        }
-    }
-}
-
 void turnRightToFindLine()
 {   
     while(1)