r2maeh2/engine_control
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dead code removed

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This commit is contained in:
Thomas Klaehn 2016-09-20 09:20:05 +02:00
parent b785043967
commit 92448cf9a5
1 changed files with 0 additions and 29 deletions
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29
source/application/collision_ctrl.c
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@ -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);
}
}