diff options
Diffstat (limited to 'robot/mode_chrg.c')
| -rw-r--r-- | robot/mode_chrg.c | 11 |
1 files changed, 0 insertions, 11 deletions
diff --git a/robot/mode_chrg.c b/robot/mode_chrg.c index 5b733af..0f02f37 100644 --- a/robot/mode_chrg.c +++ b/robot/mode_chrg.c @@ -15,16 +15,12 @@ void w2_short_drive() { void w2_home() { set_motors(0, 0); delay_ms(150); - clear(); - print("CHARGING"); set_motors(30, 30); delay_ms(600); set_motors(0, 0); - play_frequency(300, 500, 7); delay_ms(600); g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); g_w2_charged_status = 1; - clear(); delay_ms(2000); } @@ -40,8 +36,6 @@ void w2_charge_cross_walk() { g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); if (g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100) { set_motors(0, 0); - // clear(); - print("WALK"); g_w2_transition++; if (g_w2_transition == 3) { // TODO: document g_w2_transition set_motors(40, 40); @@ -62,9 +56,6 @@ void w2_charge_cross_walk() { void w2_mode_chrg() { unsigned int last_proportional = 0; long integral = 0; - // initialize(); - clear(); - print("CHARGE"); while (1) { // Get the position of the line. Note that we *must* provide @@ -113,13 +104,11 @@ void w2_mode_chrg() { w2_maze_rotation_full(); w2_short_drive(); } else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 200 && g_w2_sensors[4] < 100) { - clear(); w2_maze_rotation_half_left(); } else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 && g_w2_sensors[3] >= 250 && g_w2_sensors[4] >= 500) { - clear(); w2_maze_rotation_half_left(); } else { if (power_difference < 0 && |