Diff: navigation.h

Revision:

8:c77ab7615b21

Parent:

5:40ac894e0fa7

Child:

12:273479524c71

--- a/navigation.h	Tue Apr 07 03:49:50 2015 +0000
+++ b/navigation.h	Mon Apr 27 16:49:48 2015 +0000
@@ -1,27 +1,22 @@
-/**************************************************************************************************************************************************************
+/*************************************************************************************************************************************************************/
 //  Created by: Ryan Spillman
 //
-//  Last updated 4/4/2015
+//  Last updated 4/9/2015
 //
 //  Contains function that outputs difference in compass heading(magHead) and heading required(calcHead)
-//  Also contains functions for controlling L298n H-bridge
-**************************************************************************************************************************************************************/
+/*************************************************************************************************************************************************************/
 
 #define navigation_h
 
 //Tolerance for heading actual and heading needed
 #define HEADDIFF 0.000000000000000000f
 
-//L298n connections
-DigitalOut pinI1(D10);
-DigitalOut pinI2(D11);
-DigitalOut pinI3(D12);
-DigitalOut pinI4(D13);
-PwmOut ENA(D6);    //Left
-PwmOut ENB(D7);    //Right
-
-//Outputs difference in compass heading(magHead) and heading required(calcHead)
-//negative is left and positive is right
+/*************************************************************************************************************************************************************/
+//                                                      whichWay
+//
+//  Outputs difference in compass heading(magHead) and heading required(calcHead)
+//  negative is left and positive is right
+/*************************************************************************************************************************************************************/
 float whichWay(float magHead, float calcHead)
 {
     float magDiff;
@@ -152,53 +147,3 @@
     }
     return 0;
 }
-
-void goStop(float valueOne, float valueTwo)
-{
-    pinI1 = 0;
-    pinI2 = 0;
-    pinI3 = 0;
-    pinI4 = 0;
-    ENA =  valueOne;
-    ENB = valueTwo;
-}
-
-void goForward(float valueOne, float valueTwo)
-{
-    pinI1 = 1;
-    pinI2 = 0;
-    pinI3 = 0;
-    pinI4 = 1;
-    ENA =  valueOne;
-    ENB = valueTwo;
-}
-
-void goBackward(float valueOne, float valueTwo)
-{
-    pinI1 = 0;
-    pinI2 = 1;
-    pinI3 = 1;
-    pinI4 = 0;
-    ENA =  valueOne;
-    ENB = valueTwo;
-}
-
-void goLeft(float valueOne, float valueTwo)
-{
-    pinI1 = 0;
-    pinI2 = 1;
-    pinI3 = 0;
-    pinI4 = 1;
-    ENA =  valueOne;
-    ENB = valueTwo;
-}
-
-void goRight(float valueOne, float valueTwo)
-{
-    pinI1 = 1;
-    pinI2 = 0;
-    pinI3 = 1;
-    pinI4 = 0;
-    ENA =  valueOne;
-    ENB = valueTwo;
-}