Diff: main.cpp

Revision:

46:df2c2d25c070

Parent:

45:81dd782bc0b4

Child:

47:9773dc14c834

--- a/main.cpp	Sun Jul 28 01:52:34 2019 +0000
+++ b/main.cpp	Sun Jul 28 22:20:12 2019 +0000
@@ -61,31 +61,29 @@
     //testL3gAndShowAverage();
     //testTurnSensor();
     //testReckoner();
+    //testCloseness();  // didn't do it in 2019
     //testDriveHome();
     //testFinalSettleIn();  // doesn't really work
     //testLineSensorsAndCalibrate();
-    testLineFollowing();
-    //testTurnInPlace();
-    //testCloseness();
-    //testLogger();
-
-    loadLineCalibration();
-    doGyroCalibration();
+    //testLineFollowing();
+    //testTurnInPlace();  // didn't do it in 2019
+    //testLogger();       // didn't do it in 2019
 
     doDeadReckoning();
 }
 
 void doDeadReckoning()
 {
+    loadLineCalibration();
+    doGyroCalibration();
+    turnSensor.start();
+
     setLeds(1, 0, 0, 0);
     waitForSignalToStart();
     
     setLeds(0, 1, 0, 0);    
     findLine();
 
-    //setLeds(1, 1, 0, 0);
-    //turnRightToFindLine();
-    
     setLeds(0, 0, 1, 0);
     followLineToEnd();
     
@@ -225,6 +223,7 @@
         updateReckoner();
     }
     reckoner.reset();
+    turnSensor.reset();
     while(button1DefinitelyPressed())
     {
         updateReckoner();
@@ -289,24 +288,6 @@
     }
 }
 
-/**
-void turnRightToFindLine()
-{   
-    while(1)
-    {
-        lineTracker.read();
-        lineTracker.updateCalibration();
-        updateReckonerFromEncoders();
-        
-        if(lineTracker.getLineVisible())
-        {
-            break;   
-        }
-        
-        motorsSpeedSet(300, 100);        
-    }
-}**/
-
 void followLineToEnd()
 {
     Timer timer;