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authorNicolas Schodet2010-04-07 23:50:36 +0200
committerNicolas Schodet2010-04-07 23:50:36 +0200
commit760a56ba0746070e205184a15f0b05ef7b6304df (patch)
treed75a5bf99dbced32a86e247b285ae235e7fdd151 /digital/io/src/main.c
parentc4556705ce9cb0fc517a3d5ae89b96e8c1db756c (diff)
digital/io: forget sharps
Diffstat (limited to 'digital/io/src/main.c')
-rw-r--r--digital/io/src/main.c99
1 files changed, 0 insertions, 99 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index ecc115af..42a7ae17 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -46,7 +46,6 @@
#include "bot.h"
#include "servo_pos.h"
#include "chrono.h" /* chrono_end_match */
-#include "sharp.h" /* sharp module */
#include "pwm.h"
#include "playground.h"
#include "contact.h"
@@ -76,17 +75,6 @@ enum team_color_e bot_color;
uint8_t main_post_event_for_top_fsm = 0xFF;
/**
- * Do not generate sharps event for FSM during a certain count of cycles.
- */
-uint16_t main_sharp_ignore_event;
-
-/**
- * Sharps stats counters.
- */
-uint8_t main_stats_sharps, main_stats_sharps_cpt;
-uint8_t main_stats_sharps_interpreted_, main_stats_sharps_interpreted_cpt_;
-
-/**
* Asserv stats counters.
*/
static uint8_t main_stats_asserv_, main_stats_asserv_cpt_;
@@ -160,18 +148,6 @@ main_event_to_fsm (void)
/* Post the event */
FSM_HANDLE_EVENT (&ai_fsm, save_event);
}
- /* Sharps event for move FSM */
- /* Get the current direction of the bot */
- uint8_t moving_direction = asserv_get_last_moving_direction ();
- /* If we are moving */
- if (moving_direction)
- {
- if (sharp_path_obstrued (moving_direction))
- {
- /* Generate an event for move FSM */
- FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_obstacle_in_front);
- }
- }
/* TODO: Check other sensors */
}
@@ -204,8 +180,6 @@ main_init (void)
fsm_init (&ai_fsm);
/* Start FSM. */
fsm_handle_event (&ai_fsm, AI_EVENT_start);
- /* Sharp module */
- sharp_init ();
/* PWM module */
pwm_init ();
/* Servo pos init. */
@@ -274,48 +248,10 @@ main_loop (void)
switch_update ();
/* Update path module */
path_decay ();
- /* Sharps module */
- /* Update the ignore sharp event flag */
- if (main_sharp_ignore_event)
- main_sharp_ignore_event--;
- /* Update sharps */
- sharp_update ();
-
/* Manage events. */
main_event_to_fsm ();
}
- /* Send Sharps raw stats. */
- if (main_stats_sharps && !--main_stats_sharps_cpt)
- {
- uint8_t count;
- uint8_t cache[SHARP_NUMBER * 2];
- /* Reset counter */
- main_stats_sharps_cpt = main_stats_sharps;
- for (count = 0; count < SHARP_NUMBER; count++)
- {
- uint16_t tmp = sharp_get_raw (count);
- cache[count * 2] = v16_to_v8 (tmp, 1);
- cache[count * 2 + 1] = v16_to_v8 (tmp, 0);
- }
- proto_send ('H', 2 * SHARP_NUMBER, cache);
- }
- /* Send Sharps interpreted stats. */
- if (main_stats_sharps_interpreted_ &&
- !--main_stats_sharps_interpreted_cpt_)
- {
- uint8_t count;
- uint8_t cache[SHARP_NUMBER];
- /* Reset counter */
- main_stats_sharps_interpreted_cpt_ =
- main_stats_sharps_interpreted_;
- for (count = 0; count < SHARP_NUMBER; count++)
- {
- cache[count] = sharp_get_interpreted (count);
- }
- proto_send ('I', SHARP_NUMBER, cache);
- }
-
/* Send asserv stats if needed */
if (main_stats_asserv_ && !--main_stats_asserv_cpt_)
{
@@ -379,13 +315,6 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
proto_send1b ('S', switch_get_color () << 1 | switch_get_jack ());
break;
- case c ('H', 1):
- /* Print raw stats for sharps.
- * - 1b: frequency of sharp stats.
- */
- main_stats_sharps_cpt = main_stats_sharps = args[0];
- break;
-
case c ('M', 1):
/* Main stats timer.
* - 1b: 1 to enable, 0 to disable.
@@ -393,24 +322,6 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
main_stats_timer_ = args[0];
break;
- case c ('I', 1):
- /* Print interpreted stats for sharps.
- * - 1b: frequency of sharp stats.
- */
- main_stats_sharps_interpreted_cpt_ = main_stats_sharps_interpreted_ =
- args[0];
- break;
-
- case c ('h', 5):
- /* Configure sharps threshold.
- * - 1b: sharp id number;
- * - 2b: sharp low threshold;
- * - 2b: sharp high threshold.
- */
- sharp_set_threshold (args[0], v8_to_v16 (args[1], args[2]),
- v8_to_v16 (args[3], args[4]));
- break;
-
case c ('w', 4):
/* Set PWM.
* - 1w: PWM value id number;
@@ -448,16 +359,6 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
proto_send ('p', SERVO_POS_NUMBER,
servo_pos_high_time[compt]);
}
- /* Sharp */
- for (compt = 0; compt < SHARP_NUMBER; compt++)
- {
- proto_send5b
- ('h', compt,
- v16_to_v8 (sharp_threshold[compt][0], 1),
- v16_to_v8 (sharp_threshold[compt][0], 0),
- v16_to_v8 (sharp_threshold[compt][1], 1),
- v16_to_v8 (sharp_threshold[compt][1], 0));
- }
}
break;
}