Diff: main.cpp

Revision:

27:38bc8dc67dab

Parent:

26:74ecbf9985e1

Child:

28:d86c629b6fd3

--- a/main.cpp	Mon Jul 22 08:09:18 2013 +0000
+++ b/main.cpp	Tue Jul 23 03:01:35 2013 +0000
@@ -29,6 +29,8 @@
 float vx = 0, vy=0;
 float theta=0, dt_betWords=50000, st=1800;
 int laserColor=1, ticktime=600;
+int potxx = 0,potyy = 0;
+
 
 bool newPositionReady=false;
 unsigned int counter=0;
@@ -84,8 +86,8 @@
     angleX = inx;
     angleY = iny;
     
-    PotX = inPotX;
-    PotY = inPotY;
+    PotX = 0.25*potxx;//inPotX;
+    PotY = 0.25*potyy;//inPotY;
     
     // low pass filter (recusive filter):
     float alpha=.35; // alpha=dt/(RC+dt), with dt=COMPUTE_SPEED, and f_cut=1/(2*PI*RC) is the filter cutoff frequency
@@ -200,30 +202,13 @@
             else if (val == 'X') {
                 beforeX = X;
                 stringData[indexStringData] = 0;
-                X = atoi(stringData);
+                potxx = atoi(stringData);
                 indexStringData=0;
-                //vx = ((float)X-(float)beforeX) / (float)timer_v.read_us() *1000;
-            }
-
-            else if (val == 'Y') {
+            } else if (val == 'Y') {
                 beforeY = Y;
                 stringData[indexStringData] = 0;
-                Y = atoi(stringData);
+                potyy = atoi(stringData);
                 indexStringData=0;
-                //timer_v.stop();
-                //newSpeedReady = true;
-                //if( (Y-beforeY) > 5){
-                //vy = ((float)Y-(float)beforeY) / (float)timer_v.read_us() *1000;
-                
-                //myRender.updateSpeed(vx, vy);
-                
-               
-            }
-
-            else if (val == 'Y') {
-                stringData[indexStringData] = 0;
-                myRender.laserColor = 6;
-                //makeBuffer();
             } else if (val == 'R') {
                 stringData[indexStringData] = 0;
                 myRender.laserColor = 2;