diff options
| -rw-r--r-- | Venus_Skeleton/Venus_Skeleton.ino | 32 |
1 files changed, 15 insertions, 17 deletions
diff --git a/Venus_Skeleton/Venus_Skeleton.ino b/Venus_Skeleton/Venus_Skeleton.ino index f15848d..6bb8a4a 100644 --- a/Venus_Skeleton/Venus_Skeleton.ino +++ b/Venus_Skeleton/Venus_Skeleton.ino @@ -96,10 +96,10 @@ int currValDirection = 0; int currValDirectionDegree = 0; // Timers -long timerMovementStart = 0; -long timerMovementStop = 0; -long timerInitialSequence = 0; -long timerTurret = 0; +unsigned long timerMovementStart = 0; +unsigned long timerMovementStop = 0; +//unsigned long timerInitialSequence = 0; // TODO unused? +unsigned long timerTurret = 0; // Counters int counterInit = 0; @@ -267,20 +267,17 @@ float sensMagnetometer() { return(north); // Returns angle difference } void sensCompass() { - int degree = -1; - float reading[NUM_COMPASS_CHECKS]; + int degree; float readingtotal = 0; + // take multiple samples and use the average for(int i = 0; i < NUM_COMPASS_CHECKS; i++){ readingtotal += sensMagnetometer(); } - readingtotal /= NUM_COMPASS_CHECKS; - - if (readingtotal >= 0 && readingtotal <= 360) - degree = (int) readingtotal; - - if (data.compass != degree) { + // if compass reading is sane, save it. + degree = readingtotal / NUM_COMPASS_CHECKS; + if (degree >= 0 && degree <= 360 && data.compass != degree) { data.compass = degree; // mark as changed dataToPiChangedBits |= CHANGED_SENS_COMPASS; @@ -387,7 +384,7 @@ void sensSampleGripper() { } // sensor IR, beacon detection and recognition -int sensBeaconTurret() { +void sensBeaconTurret() { // BE AWARE, LOCALISATION OF OBSTACLE IS y DISTANCE FROM CENTER OF ROBOT // (creates triangle with centerOfRobot, centerOfSensor and Obstacle as its corners) @@ -439,9 +436,9 @@ void stopAllServos() { timerMovementStop = 0; } -bool moveTurnTo(int direction) { +void moveTurnTo(int direction) { if (direction == 0 || direction == NUM_DIRECTIONS) { - return true; + return; } // Make sure turret doesn't move @@ -760,7 +757,8 @@ void checkSample() { } } -bool confirmSample(int turretVal) { +void confirmSample(int turretVal) { + // TODO use turretVal if (!counterSampleConfirm) { stopAllServos(); // Turret direction in degrees calculated from forward. (negative is left, positive is right) @@ -796,7 +794,7 @@ bool confirmSample(int turretVal) { if (!counterMovement && counterSampleConfirm == 1) { int sign = currValDirectionDegree < 0 ? 1 : -1; currValDirectionDegree = 60 * sign; - counterSampleConfirm = 3 + counterSampleConfirm = 3; } } } |