Diff: PositionSystem.h

Revision:

5:210cd333f770

Parent:

4:b2a30c313297

Child:

6:3fb9f96765f6

--- a/PositionSystem.h	Fri Apr 25 23:08:01 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,77 +0,0 @@
-#include "USBHostMouse.h"
-#include "HMC6352.h"
-
-#define PFLAG_ON 0
-#define PFLAG_OFF 1
-#define PFLAG_CALIB 2
-#define PTURN_SPEED (0.5)
-
-float PTURN_RIGHT = 0;
-
-extern Serial pc(USBTX, USBRX);
-
-// updates xy position if on, does nothing if off
-extern char PFlag = PFLAG_ON;
-
-// whenever a turn is complete, this should store 
-// the degrees facing (0, 90, 180, 270) in system
-extern int t_position = 0;
-
-// variables to keep track of coordinate position
-float x_position = 0;
-float y_position = 0;
-
-// variables to keep track of movement during turning
-float pturn_x = 0;
-float pturn_y = 0;
-
-/* mouse event handler */
-void onMouseEvent(uint8_t buttons, int8_t x_mickey, int8_t y_mickey, int8_t z) {
-    
-    // calculate new position 
-    if(PFlag == PFLAG_ON) {
-        
-        // mouse movements are in mickeys. 1 mickey = ~230 DPI = ~1/230th of an inch
-        float temp = y_mickey / 232.6;
-        
-        // determine direction we are facing and add to that direction
-        if(t_position == 0)
-            y_position += temp;
-        else if(t_position == 90)
-            x_position += temp;
-        else if(t_position == 180)
-            y_position -= temp;
-        else
-            x_position -= temp;
-    } else if(PFlag == PFLAG_CALIB) {    
-        PTURN_RIGHT += x_mickey / 232.6;
-    } else {
-        pturn_x += x_mickey / 232.6;
-        pturn_y += y_mickey / 232.6;
-    }
-}
-
-// intialize x and y variables for turning
-void turnInit() {
-    pturn_x = 0;
-    pturn_y = 0;
-}
-    
-/* positioning system thread function */
-void PositionSystemMain(void const *) {
-    
-    USBHostMouse mouse;
-    
-    while(1) {
-        // try to connect a USB mouse
-        while(!mouse.connect())
-            Thread::wait(500);
-    
-        // when connected, attach handler called on mouse event
-        mouse.attachEvent(onMouseEvent);
-        
-        // wait until the mouse is disconnected
-        while(mouse.connected())
-            Thread::wait(500);
-    }
-}
\ No newline at end of file