Diff: soes.cpp

Revision:

14:e3c49b75fee9

Parent:

12:cac4e7c2bd0f

Child:

16:bfc7ea6bd1af

--- a/soes.cpp	Tue Mar 03 12:14:22 2015 +0000
+++ b/soes.cpp	Tue Mar 03 12:17:15 2015 +0000
@@ -127,10 +127,7 @@
             correct_offset = Wb.correct_offset;
             if(correct_offset & 0x01) {
             //    led.write(1);
-                FrontLeft_offset = rawFrontLeft;
-                FrontRight_offset = rawFrontRight;
-                BackLeft_offset =  rawBackLeft;
-                BackRight_offset = rawBackRight;
+  				asm("nop");
            }
            // else
            // 	led.write(0);
@@ -152,42 +149,18 @@
     }
   if (APPstate) //input or output enabled
     {	
-    	float fl,fr,br,bl,copx,copy;
-    	float total_f;
         Rb.timestamp = ESCvar.Time;
         //just some dummy data to test
         //Rb.counter++;
         //Rb.diginput = diginput;
         //Rb.analog[0] = 1;
         //Rb.analog[1] = 2;
-        fr = rawFrontRight - FrontRight_offset;
-        fl = rawFrontLeft - FrontLeft_offset;
-        br = rawBackRight - BackRight_offset;
-        bl = rawBackLeft - BackLeft_offset;
-        total_f = fr+fl+br+bl;
-        copx = (((fl+bl)-(fr+br))/total_f)*BALANCE_WIDTH;
-        copy = (((fr+fl)-(br+bl))/total_f)*BALANCE_HEIGHT;
-        grf = (total_f)*(4096*(1<<4)*(1./1100.0));
-        Rb.CoPx = copx;
-        Rb.CoPy = copy;
-        Rb.grf = grf;
-        Rb.FrontRight = rawFrontRight;
-        Rb.FrontLeft = rawFrontLeft;
-        Rb.BackRight = rawBackRight;
-        Rb.BackLeft = rawBackLeft;
+ 
 
         TXPDO_update();
     } 
 }
 
-void sample(void)
-{
-	rawFrontLeft = adcFrontLeft;
-	rawFrontRight = adcFrontRight;
-	rawBackLeft = adcBackLeft;
-	rawBackRight = adcBackRight;
-	
-}
 int main(void)
 {
     /*!< At this stage the microcontroller clock setting is already configured,
@@ -196,9 +169,7 @@
          To reconfigure the default setting of SystemInit() function, refer to
          system_stm32f0xx.c file
        */
-    Ticker adc_sampler;
     cpuinit();
-    adc_sampler.attach(sample,0.001);
 	TXPDOsize = sizeTXPDO();
 	RXPDOsize = sizeRXPDO();
     wait_ms(200);