Diff: turn_sensor.cpp

Revision:

42:96671b71aac5

Parent:

41:3ead1dd2cc3a

Child:

47:9773dc14c834

diff -r 3ead1dd2cc3a -r 96671b71aac5 turn_sensor.cpp
--- a/turn_sensor.cpp	Thu Jul 25 03:20:41 2019 +0000
+++ b/turn_sensor.cpp	Sat Jul 27 20:58:46 2019 +0000
@@ -18,19 +18,12 @@
 {
     if (l3gZAvailable() == 1)
     {
-        int32_t gz = l3gZRead();
+        int32_t gz = l3gZReadCalibrated();
         if (gz < -500000)
         {
             // error
             return;
-        }
-        
-        // The gyro zero rate on my robot, measured by testL3gAndCalibrate() on
-        // 2019-07-24 is about -6.5.  So let's add 6 half the time and add 7
-        // the other half of the time.  This is a big hack.
-        static uint8_t updateCount = 0;
-        updateCount++;
-        gz = gz + 6 + (updateCount & 1);
+        }        
 
         // The gyro on this robot is mounted upside down; account for that here so that
         // we can have counter-clockwise be a positive rotation.