Revision 24:f4f933d9194b, committed 2013-04-13

Comitter:

IanTheMBEDMaster

Date:

Sat Apr 13 21:42:56 2013 +0000

Parent:

23:806c9b8af77c

Commit message:

Finished up

Changed in this revision

--- a/main.cpp	Sat Apr 13 19:19:20 2013 +0000
+++ b/main.cpp	Sat Apr 13 21:42:56 2013 +0000
@@ -757,79 +757,20 @@
         userSetR = TSpeedR - uW;
     }   
     
-    
     // data recording code
-        if (action == 2)
+    if (action == 2)
+    {
+        if (RecCount < 200)
         {
-            if (RecCount < 200)
-            {
-                RecX[RecCount] = eW;
-                RecU[RecCount] = uW;
-                RecV[RecCount] = DF;
-                RecE[RecCount] = DR;
-                RecCount++;
-                //
-            }
+            RecX[RecCount] = eW;
+            RecU[RecCount] = uW;
+            RecV[RecCount] = DF;
+            RecE[RecCount] = DR;
+            RecCount++;
         }
-    
-    
+    }
 }
 
-/*
-void IRChecker()
-{
-    float IRF, IRR;
-    float aF = 22.6321; // 34.2911
-    float bF = -0.1721; // -0.2608
-    float aR = 22.6021; // 34.2456
-    float bR = -0.0376; // -0.0569
-    // float Nominal = 25;
-    
-    // Read Sensors
-    IRF = 3.3*IRFront.read();
-    IRR = 3.3*IRRear.read();
-
-    
-    // Calculate distance based on voltage
-    DF = aF/(IRF+bF);
-    DR = aR/(IRR+bR);
-    
-    // Display Distances
-    // BtS.printf("IRD  F: %f R: %f\n\r\n", DF, DR);
-    
-    // Compare to nominal voltage and adjust
-    while(1)
-    {
-        if (DF > Nominal && DR > Nominal)
-        {
-            userSetR = TSpeedR + Turn;
-            userSetL = TSpeedL - Turn;
-            break;
-        }
-        if (DF < Nominal && DR < Nominal)
-        {
-            userSetR = TSpeedR - Turn;
-            userSetL = TSpeedL + Turn;
-            break;
-        }
-        
-        // Compare rangers to each other
-        if (DF > DR) // IRF further than IRR
-        {
-            userSetR = TSpeedR + Turn;
-            userSetL = TSpeedL - Turn;
-            break;
-        }
-        if (DF < DR) // IRF closer than IRR
-        {
-            userSetR = TSpeedR - Turn;
-            userSetL = TSpeedL + Turn;
-            break;
-        }
-    } 
-}
-*/
-
 void DisplayMenu()
 {
     BtS.printf("\r\n\nPress the corresponding key to do something:\r\n");