Indents fixed

1 files changed, 120 insertions, 120 deletions

diff --git a/Venus_Skeleton/Venus_Skeleton.ino b/Venus_Skeleton/Venus_Skeleton.ino
index 5fe4610..b4a7571 100644
--- a/Venus_Skeleton/Venus_Skeleton.ino
+++ b/Venus_Skeleton/Venus_Skeleton.ino
@@ -108,20 +108,20 @@ void errorSequence(int errorCode) {
 
 long microsecondsToInches(long microseconds)
 {
-  // According to Parallax's datasheet for the PING))), there are
-  // 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
-  // second).  This gives the distance travelled by the ping, outbound
-  // and return, so we divide by 2 to get the distance of the obstacle.
-  // See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
-  return microseconds / 74 / 2;
+	// According to Parallax's datasheet for the PING))), there are
+	// 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
+	// second).  This gives the distance travelled by the ping, outbound
+	// and return, so we divide by 2 to get the distance of the obstacle.
+	// See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
+	return microseconds / 74 / 2;
 }
 
 long microsecondsToCentimeters(long microseconds)
 {
-  // The speed of sound is 340 m/s or 29 microseconds per centimeter.
-  // The ping travels out and back, so to find the distance of the
-  // object we take half of the distance travelled.
-  return microseconds / 29 / 2;
+	// The speed of sound is 340 m/s or 29 microseconds per centimeter.
+	// The ping travels out and back, so to find the distance of the
+	// object we take half of the distance travelled.
+	return microseconds / 29 / 2;
 }
 
 void initTurretSequence(int array, int numOfPositions) {
@@ -155,20 +155,20 @@ void sendData(pi_datatype_t method, int data, int data1 = NULL, int data2 = NULL
 }
 
 void interpretData(pi_datatype_t dataType, int message) {
-  switch(dataType) {
-    case PI_DATATYPE_MOVETO:
+	switch(dataType) {
+		case PI_DATATYPE_MOVETO:
 		
-    break;
-    case PI_DATATYPE_GRIPPER:
+		break;
+		case PI_DATATYPE_GRIPPER:
     
-    break;
-    case PI_DATATYPE_TURRET:
+		break;
+		case PI_DATATYPE_TURRET:
     
-    break;
-    default:
+		break;
+		default:
 		// ignore ????
-    break;
-  }
+		break;
+	}
 }
 
 // receive data from Raspberry Pi
@@ -191,81 +191,81 @@ void readData() {
 // sensor Compass, orientation
 float sensMagnetometer() {
 	MagnetometerRaw raw = compass.ReadRawAxis();
-  float heading = atan2(raw.YAxis, raw.XAxis);
-
-  if(heading < 0){
-    heading += 2*PI;
-  }
-
-  float headingDegrees = heading * 180/M_PI;    // Convert to angles
-  headingDegrees = headingDegrees + 90;         // Adjust angle to be relative to front of robot instead of X-direction of sensor
-  if(headingDegrees>360){
-    headingDegrees=headingDegrees-360;
-  }
-  float north;
-    if(headingDegrees<165){                     // When heading is negative (left) of north with 15 degree margin
-    north=headingDegrees-180;                   // Set angle between north and heading angle
-  }
-  else if(headingDegrees>195){                  // When heading is positive (right) of north with 15 degree margin
-    north=headingDegrees-180;                   // Set angle between north and heading angle
-  }
-  else{                                         // Else heading is towards north with 15 degree margin both sides            
-    north=0;                                    // Set angle between north and heading angle to be 0
-  }
-  return(north);                                // Returns angle difference
+	float heading = atan2(raw.YAxis, raw.XAxis);
+
+	if(heading < 0){
+		heading += 2*PI;
+	}
+
+	float headingDegrees = heading * 180/M_PI;    // Convert to angles
+	headingDegrees = headingDegrees + 90;         // Adjust angle to be relative to front of robot instead of X-direction of sensor
+	if(headingDegrees>360){
+		headingDegrees=headingDegrees-360;
+	}
+	float north;
+	if(headingDegrees<165){                     // When heading is negative (left) of north with 15 degree margin
+		north=headingDegrees-180;                   // Set angle between north and heading angle
+	}
+	else if(headingDegrees>195){                  // When heading is positive (right) of north with 15 degree margin
+		north=headingDegrees-180;                   // Set angle between north and heading angle
+	}
+	else{                                         // Else heading is towards north with 15 degree margin both sides            
+		north=0;                                    // Set angle between north and heading angle to be 0
+	}
+	return(north);                                // Returns angle difference
 }
 int sensCompass() {
 	
 	
 	float reading[NUM_COMPASS_CHECKS];
-  float readingtotal = 0;
+	float readingtotal = 0;
 	
-  for(int i = 0; i < NUM_COMPASS_CHECKS; i++){
-    reading[i] = readcompass();
+	for(int i = 0; i < NUM_COMPASS_CHECKS; i++){
+		reading[i] = readcompass();
 		readingtotal
+			i++;
+		reading[i] = readcompass();
 		i++;
-    reading[i] = readcompass();
-		i++;
-    reading[i] = readcompass();
-  }
-  if(i==NUM_COMPASS_CHECKS){
-    for(int j = 0; j < NUM_COMPASS_CHECKS; j++){
-      readingtotal = readingtotal + reading[j];     // Total readings
-    }
-  readingtotal = readingtotal / NUM_COMPASS_CHECKS;                 // Average reading
-  Serial.print("Readingtotal: ");               // Print average reading (CAN BE REMOVED)
-  Serial.println(readingtotal);
-  }
-  return readingtotal;
+		reading[i] = readcompass();
+	}
+	if(i==NUM_COMPASS_CHECKS){
+		for(int j = 0; j < NUM_COMPASS_CHECKS; j++){
+			readingtotal = readingtotal + reading[j];     // Total readings
+		}
+		readingtotal = readingtotal / NUM_COMPASS_CHECKS;                 // Average reading
+		Serial.print("Readingtotal: ");               // Print average reading (CAN BE REMOVED)
+		Serial.println(readingtotal);
+	}
+	return readingtotal;
 	
 	
 	
 	// average for last x ????????
-  int degree = 359;
-  sendData(PI_DATATYPE_COMPASS, degree);
-  return degree;
+	int degree = 359;
+	sendData(PI_DATATYPE_COMPASS, degree);
+	return degree;
 }
 
 // sensor Ultrasound, distance measurement
 long sensPing(int pin)
 {
-  long duration;
+	long duration;
 	
 	// Sets pin to OUTPUT and send start signal: pulse (Low-High-Low for clean signal)
-  pinMode(pin, OUTPUT);
-  digitalWrite(pin, 0);
-  delayMicroseconds(2);
-  digitalWrite(pin, 255);
-  delayMicroseconds(5);
-  digitalWrite(pin, 0);
+	pinMode(pin, OUTPUT);
+	digitalWrite(pin, 0);
+	delayMicroseconds(2);
+	digitalWrite(pin, 255);
+	delayMicroseconds(5);
+	digitalWrite(pin, 0);
 	
 	// Sets pin to INPUT and measure time from the echo
-  pinMode(pin, INPUT);
-  duration = pulseIn(pin, 255);
+	pinMode(pin, INPUT);
+	duration = pulseIn(pin, 255);
 	
 	// Convert from us to cm
-  duration = microsecondsToCentimeters(duration);
-  return duration;
+	duration = microsecondsToCentimeters(duration);
+	return duration;
 }
 void sensObstacleTurret() {
 	
@@ -279,7 +279,7 @@ void sensObstacleTurret() {
 			// mark as changed
 			dataToPiChangedBits |= CHANGED_SENS_OBSTACLETURRET;
 		}
-  }
+	}
 }
 
 
@@ -289,16 +289,16 @@ bool sensIRLine(lr_t LorR) {
 	// BE AWARE, LOCALISATION OF LINE IS y DISTANCE and z DEGREE FROM CENTER OF ROBOT,
 	// calculate by RPi??
 	
-  int i;
+	int i;
 	bool inaccessible = false;
 	int pinNo = LorR == L ? PIN_SENS_IR_LEFT : PIN_SENS_IR_RIGHT;
 	int threshold = LorR == L ? CAL_IR_LEFT_THRESHOLD : CAL_IR_RIGHT_THRESHOLD;
 	bool *dataField = LorR == L ? &data.IR_left_detected : &data.IR_right_detected;
 	int changeBit = LorR == L ? CHANGED_SENS_IRLEFT : CHANGED_SENS_IRRIGHT;
   
-  i = analogRead(pinNo);
-  if (i > threshold)
-    inaccessible = true;
+	i = analogRead(pinNo);
+	if (i > threshold)
+		inaccessible = true;
 	
 	if (*dataField != inaccessible) {
 		*dataField = inaccessible;
@@ -306,7 +306,7 @@ bool sensIRLine(lr_t LorR) {
 		dataToPiChangedBits |= changeBit;
 	}
 	
- 	return inaccessible;
+	return inaccessible;
 }
 
 // sensor IR, sample detection
@@ -325,15 +325,15 @@ void sensSampleTurret() {
 		
 		if (data.sample_turret_detected[counterTurret] != sample) {
 			opMode(OPMODE_WAIT);
-	    stopAllServos();
+			stopAllServos();
 			data.sample_turret_detected[counterTurret] = sample;
 			// mark as changed
 			dataToPiChangedBits |= CHANGED_SENS_SAMPLETURRET;
 		}
-  }
+	}
 }
 void sensSampleGripper() {
-  int i;
+	int i;
 	bool sample = false; 
 	
 	i = false; // SENSORDATA HERE
@@ -365,12 +365,12 @@ int sensBeaconTurret() {
 			// mark as changed
 			dataToPiChangedBits |= CHANGED_SENS_SAMPLETURRET;
 		}
-  }
+	}
 }
 
 // sensor IR, lab detection
 int sensLab() {
-  return 0;
+	return 0;
 }
 
 // ************************
@@ -435,10 +435,10 @@ void turnTurretToNext() {
 		}
 		
 		int deg;
-	  deg = turretSequence[counterTurret] * 10;
+		deg = turretSequence[counterTurret] * 10;
 		
 		timerTurret = millis();
-	  turnTurretTo(deg)
+		turnTurretTo(deg)
 	}
 	if ((timerTurret + 100) < millis()) {
 		timerTurret = 0;
@@ -520,9 +520,9 @@ int eliminateDirections(int directionArray[]) {
 
 	// Implement PI's choices (if still possible)
 	// if (numPossibleDirectionsPi) {
-		//for (int i = 0; i < NUM_DIRECTIONS * 2; i++) {
-			// if(!PIarray[i]) {directionArray[i] = 0}
-		// }
+	//for (int i = 0; i < NUM_DIRECTIONS * 2; i++) {
+	// if(!PIarray[i]) {directionArray[i] = 0}
+	// }
 	// }
 	
 	return numPossibleDirections;
@@ -568,19 +568,19 @@ void setup() {
 	// initialise compass communication
 	compass = HMC5883L();
 	// Gauss scale 1.3
-  int error = compass.SetScale(1.3);
-  if(error != 0){
-  	// Serial.println(compass.GetErrorText(error));
-  }
-  error = compass.SetMeasurementMode(Measurement_Continuous);
-  if(error != 0){
-  	// Serial.println(compass.GetErrorText(error));
-  }
+	int error = compass.SetScale(1.3);
+	if(error != 0){
+		// Serial.println(compass.GetErrorText(error));
+	}
+	error = compass.SetMeasurementMode(Measurement_Continuous);
+	if(error != 0){
+		// Serial.println(compass.GetErrorText(error));
+	}
 	
 	servoLeft.attach(PIN_SERVO_LEFT);
 	servoRight.attach(PIN_SERVO_RIGHT);
 	servoTurret.attach(PIN_SERVO_TURRET);
-  servoGrabber.attach(PIN_SERVO_GRIPPER);
+	servoGrabber.attach(PIN_SERVO_GRIPPER);
 	
 	turnTurretTo(0);
 	
@@ -608,42 +608,42 @@ void loop() {
 	
 	switch(operationMode) {
 		case OPMODE_WAIT:
-			counterMovement = 0;
-			timerMovement = 0;
-			break;
+		counterMovement = 0;
+		timerMovement = 0;
+		break;
 		case OPMODE_INITIALSEQUENCE:
-			initialSequence();
-			break;
+		initialSequence();
+		break;
 		case OPMODE_RANDOM:
 			
-			break;
+		break;
 		case OPMODE_MAPPING:
-			turnTurretToNext();
-			checkBestRoute();
-			moveTurnTo(currValDirection);
-			moveStraight(currValDirection, 1); // 1 is supposed to be some distance / time
-			break;
+		turnTurretToNext();
+		checkBestRoute();
+		moveTurnTo(currValDirection);
+		moveStraight(currValDirection, 1); // 1 is supposed to be some distance / time
+		break;
 		case OPMODE_CHECKSAMPLE:
 			
-			break;
+		break;
 		case OPMODE_GRABSAMPLE:
 			
-			break;
+		break;
 		case OPMODE_GOTOLABLOCATION:
-			sensBeaconTurret();
-			break;
+		sensBeaconTurret();
+		break;
 		case OPMODE_WAITFORLAB:
 			
-			break;
+		break;
 		case OPMODE_FINDMAGNET:
 			
-			break;
+		break;
 		case OPMODE_LABSEQUENCE:
 			
-			break;
+		break;
 		default:
-			// ??
-			break;
+		// ??
+		break;
 	}
 	
 	// Delay for stability.
@@ -698,9 +698,9 @@ if (data.left_detected != val) {
 
 // 2. read whetehr you have hit a block / line sensor
 if ((changedBits & (CHANGED_IR_LEFT | CHANGED_IR_RIGHT))) &&
-	(data.left_detected || data.right_detected)) {
-		// panic!
-		stopMotor();
+(data.left_detected || data.right_detected)) {
+	// panic!
+	stopMotor();
 }
 
 // 3. send to pi or other calculations (and clear bits)