From da1af0c7bc0c7b5d9d576e7729e9693d3d105453 Mon Sep 17 00:00:00 2001
From: emamaker <emamaker0@gmail.com>
Date: Mon, 16 May 2022 20:39:56 +0200
Subject: [PATCH] remove ball presence sensor

as it will not be present on robot for the time being
---
 include/sensors/data_source_ball_presence.h | 18 -------------
 include/sensors/sensors.h                   |  2 --
 src/sensors/data_source_ball_presence.cpp   | 29 ---------------------
 src/sensors/sensors.cpp                     |  5 ++--
 src/test_menu.cpp                           |  2 +-
 5 files changed, 3 insertions(+), 53 deletions(-)
 delete mode 100644 include/sensors/data_source_ball_presence.h
 delete mode 100644 src/sensors/data_source_ball_presence.cpp

diff --git a/include/sensors/data_source_ball_presence.h b/include/sensors/data_source_ball_presence.h
deleted file mode 100644
index d90a55d..0000000
--- a/include/sensors/data_source_ball_presence.h
+++ /dev/null
@@ -1,18 +0,0 @@
-#pragma once
-
-#define BALL_PRESENCE_TRESH 600
-
-#include <Arduino.h>
-#include "behaviour_control/data_source.h"
-
-class DataSourceBallPresence : public DataSource{
-
-    public:
-        DataSourceBallPresence(int, bool);
-        void postProcess() override;
-        void test() override;
-        bool isInMouth();
-
-    public:
-        bool present;
-};
\ No newline at end of file
diff --git a/include/sensors/sensors.h b/include/sensors/sensors.h
index a144e98..68b50cd 100644
--- a/include/sensors/sensors.h
+++ b/include/sensors/sensors.h
@@ -17,7 +17,6 @@
 #include "systems/lines/linesys_camera.h"
 #include "systems/position/positionsys_zone.h"
 #include "sensors/data_source_ball.h"
-#include "sensors/data_source_ball_presence.h"
 #include "sensors/data_source_bt.h"
 #include "sensors/data_source_bno055.h"
 #include "sensors/data_source_camera_conicmirror.h"
@@ -36,7 +35,6 @@ s_extr DataSourceBall* ball;
 s_extr DataSourceCameraConic* camera;
 s_extr DriveController* drive;
 s_extr DataSourceBT* bt;
-s_extr DataSourceBallPresence* ballPresence;
 
 s_extr int role;
 
diff --git a/src/sensors/data_source_ball_presence.cpp b/src/sensors/data_source_ball_presence.cpp
deleted file mode 100644
index ffcb2cd..0000000
--- a/src/sensors/data_source_ball_presence.cpp
+++ /dev/null
@@ -1,29 +0,0 @@
-#include "sensors/data_source_ball_presence.h"
-#include "behaviour_control/status_vector.h"
-#include "vars.h"
-
-DataSourceBallPresence::DataSourceBallPresence(int pin_, bool analog) : DataSource(pin_, analog){
-    present = false;
-    value = 0;
-} 
-
-void DataSourceBallPresence::postProcess(){
-    present = value <= BALL_PRESENCE_TRESH;
-
-    CURRENT_INPUT_WRITE.ballPresenceVal = value;
-    CURRENT_DATA_WRITE.ballPresenceVal = value;
-    CURRENT_DATA_WRITE.ballPresent = present;
-}
-
-bool DataSourceBallPresence::isInMouth(){
-    return ball->isInFront() && present;
-}
-
-void DataSourceBallPresence::test(){
-    DEBUG.print("Reading value: ");
-    DEBUG.print(CURRENT_DATA_READ.ballPresenceVal);
-    DEBUG.print(" -> ");
-    DEBUG.print(CURRENT_DATA_READ.ballPresent);
-    DEBUG.print(" | Ball in mouth: ");
-    DEBUG.println(isInMouth());
-}
\ No newline at end of file
diff --git a/src/sensors/sensors.cpp b/src/sensors/sensors.cpp
index b6c962e..ea841f7 100644
--- a/src/sensors/sensors.cpp
+++ b/src/sensors/sensors.cpp
@@ -26,10 +26,9 @@ void updateSensors(){
     
     compass->update();
     ball->update();
-    ballPresence->update();
+    
     camera->update();
-
     bt->update();
 
-    // roller->update();
+    roller->update();
 }
\ No newline at end of file
diff --git a/src/test_menu.cpp b/src/test_menu.cpp
index d2bc309..17c393b 100644
--- a/src/test_menu.cpp
+++ b/src/test_menu.cpp
@@ -110,7 +110,7 @@ void TestMenu::testMenu()
                 DEBUG.print((char)Serial2.read());
             break;
         case 'b':
-            ballPresence->test();
+            // ballPresence->test();
             break;
         case 'r':
             drive->stopAll();