From 92448cf9a5a5128afc5619876a643319fb04566a Mon Sep 17 00:00:00 2001 From: Thomas Klaehn Date: Tue, 20 Sep 2016 09:20:05 +0200 Subject: [PATCH] dead code removed --- source/application/collision_ctrl.c | 29 ----------------------------- 1 file changed, 29 deletions(-) diff --git a/source/application/collision_ctrl.c b/source/application/collision_ctrl.c index 8e53751..4948175 100644 --- a/source/application/collision_ctrl.c +++ b/source/application/collision_ctrl.c @@ -41,35 +41,6 @@ static void collision_ctrl_loop(void *arg) while(1) { int pulse_ns = drv_ioctl(&pwm2_c4, IOCTL_PWM_GET_PULSE_WIDTH_NS, NULL); collision_ctrl_object.distance_mm = 343 * pulse_ns / 1000 / 2; -#if 0 - if(collision_ctrl_object.distance_mm < 300) { - char print_buffer[50]; - if(engine_ctrl_get_current_speed_value() != 0) { - drive_ctrl_halt(); - sprintf(print_buffer, "collision detected (%dmm)...\r\n", collision_ctrl_object.distance_mm); - shell_write(print_buffer, strlen(print_buffer)); - sprintf(print_buffer, "going back...\r\n"); - shell_write(print_buffer, strlen(print_buffer)); - drive_ctrl_backward(); - sleep_ms(500); - drive_ctrl_halt(); - - sprintf(print_buffer, "start turning...\r\n"); - shell_write(print_buffer, strlen(print_buffer)); - drive_ctrl_turn_left(); - sleep_ms(drv_read(&rng, NULL, 0) % 3500 + 500); // rand between 500 and 4000 - drive_ctrl_halt(); - - sprintf(print_buffer, "restart forward...\r\n"); - shell_write(print_buffer, strlen(print_buffer)); - drive_ctrl_forward(); - } - else { - sprintf(print_buffer, "collision detected while not driving 8(\r\n"); - shell_write(print_buffer, strlen(print_buffer)); - } - } -#endif sleep_ms(1); } }