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SPQR-Team-2019-REVAMPED
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misc code cleanup

pull/1/head
emamaker 2022-06-09 10:04:02 +02:00
parent 6d2c43d93a
commit 26c3ec53e3
4 changed files with 6 additions and 17 deletions
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10
include/strategy_roles/games.h
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@ -14,14 +14,4 @@
void initGames(); void initGames();
g_extr Game* striker; g_extr Game* striker;
g_extr Game* striker_roller;
g_extr Game* precision_shooter;
g_extr Game* pass_and_shoot;
g_extr Game* keeper; g_extr Game* keeper;
g_extr Game* tc1;
g_extr Game* tc2;
g_extr Game* st_tc1;
g_extr Game* st_tc3;
g_extr Game* tc3_1;
g_extr Game* tc3_2;

8
src/main.cpp
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@ -18,7 +18,7 @@ bool keeper_condition = false;
void setup() { void setup() {
tone(BUZZER, 220, 250); tone(BUZZER, 220, 250);
delay(1500); delay(750);
DEBUG.begin(115200); DEBUG.begin(115200);
for(int i = 0; i < 360; i++){ for(int i = 0; i < 360; i++){
@ -37,7 +37,7 @@ void setup() {
tone(BUZZER, 320, 250); tone(BUZZER, 320, 250);
initGames(); initGames();
delay(250); delay(450);
//Startup sound //Startup sound
tone(BUZZER, 350.00, 250); tone(BUZZER, 350.00, 250);
@ -48,9 +48,11 @@ void setup() {
void loop() { void loop() {
updateSensors(); updateSensors();
drive->resetDrive(); drive->resetDrive();
testmenu->testMenu(); testmenu->testMenu();
striker->play(1);
drive->drivePrepared(); drive->drivePrepared();
updateStatusVector(); updateStatusVector();
} }

2
src/motors_movement/drivecontroller.cpp
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@ -63,8 +63,6 @@ float DriveController::torad(float f){
void DriveController::drive(int dir, int speed, int tilt){ void DriveController::drive(int dir, int speed, int tilt){
speed = speedFilter->calculate(speed)*GLOBAL_SPD_MULT; speed = speedFilter->calculate(speed)*GLOBAL_SPD_MULT;
//tilt = tilt > 180 ? tilt - 360 : tilt;
//TODO: Changing CURRENT_DATA_READ to CURRENT_DATA_WRITE? //TODO: Changing CURRENT_DATA_READ to CURRENT_DATA_WRITE?
// Disable vector sum because calculations are a bitty crappy imho. Will have to test if it's what makes the robot act strange with lines // Disable vector sum because calculations are a bitty crappy imho. Will have to test if it's what makes the robot act strange with lines
// Re enabling the below lines requires to comment out drive->prepareDrive and uncommenting the lines relative to vector sum inside positionsys_camera and comment out the other lines here // Re enabling the below lines requires to comment out drive->prepareDrive and uncommenting the lines relative to vector sum inside positionsys_camera and comment out the other lines here

1
src/test_menu.cpp
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@ -91,7 +91,6 @@ void TestMenu::testMenu()
DEBUG.println(role); DEBUG.println(role);
DEBUG.print("Left switch (goalOrientation): "); DEBUG.print("Left switch (goalOrientation): ");
DEBUG.println(camera->goalOrientation); DEBUG.println(camera->goalOrientation);
DEBUG.print("Robot Identifier: ");
delay(50); delay(50);
break; break;
case 'p': case 'p':