1 files changed, 0 insertions, 152 deletions
diff --git a/libraries/Robot_Motor/lineFollow.cpp b/libraries/Robot_Motor/lineFollow.cpp
deleted file mode 100644
index d6ebed8..0000000
--- a/libraries/Robot_Motor/lineFollow.cpp
+++ /dev/null
@@ -1,152 +0,0 @@
-//#include <ArduinoRobotMotorBoard.h>
-#include "LineFollow.h"
-
-//#define KP 19 //0.1 units
-//#define KD 14
-//#define ROBOT_SPEED 100 //percentage
-
-//#define KP 11
-//#define KD 5
-//#define ROBOT_SPEED 50
-
-//#define INTEGRATION_TIME 10 //En ms
-
-/*uint8_t KP=11;
-uint8_t KD=5;
-uint8_t robotSpeed=50; //percentage
-uint8_t intergrationTime=10;*/
-
-#define NIVEL_PARA_LINEA 50 
-
-/*int lectura_sensor[5], last_error=0, acu=0;
-
-//Estos son los arrays que hay que rellenar con los valores de los sensores
-//de suelo sobre blanco y negro. 
-int sensor_blanco[]={
-  0,0,0,0,0};
-int sensor_negro[]={
-  1023,1023,1023,1023,1023};
-*/
-//unsigned long time;
-
-//void mueve_robot(int vel_izq, int vel_der);
-//void para_robot();
-//void doCalibration(int speedPct, int time);
-//void ajusta_niveles();	//calibrate values
-
-LineFollow::LineFollow(){
-	/*KP=11;
-	KD=5;
-	robotSpeed=50; //percentage
-	intergrationTime=10;*/
-	config(11,5,50,10);
-		
-	for(int i=0;i<5;i++){
-		sensor_blanco[i]=0;
-		sensor_negro[i]=1023;
-	}
-}
-
-void LineFollow::config(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){
-	this->KP=KP;
-	this->KD=KD;
-	this->robotSpeed=robotSpeed;
-	this->intergrationTime=intergrationTime;
-	/*Serial.print("LFC: ");
-	Serial.print(KP);
-	Serial.print(' ');
-	Serial.print(KD);
-	Serial.print(' ');
-	Serial.print(robotSpeed);
-	Serial.print(' ');
-	Serial.println(intergrationTime);*/
-	
-}
-void LineFollow::calibIRs(){
-	static bool isInited=false;//So only init once
-	if(isInited)return ;
-	
-	delay(1000);
-	
-	doCalibration(30,500);
-	doCalibration(-30,800);
-	doCalibration(30,500);
-	
-	delay(1000);
-	isInited=true;
-}
-
-void LineFollow::runLineFollow(){
-  for(int count=0; count<5; count++)
-  {
-    lectura_sensor[count]=map(IRread(count),sensor_negro[count],sensor_blanco[count],0,127);
-    acu+=lectura_sensor[count];
-  }
-
-  //Serial.println(millis());
-  if (acu > NIVEL_PARA_LINEA)
-  {
-    acu/=5;
-
-    int error = ((lectura_sensor[0]<<6)+(lectura_sensor[1]<<5)-(lectura_sensor[3]<<5)-(lectura_sensor[4]<<6))/acu;
-
-    error = constrain(error,-100,100);
-
-    //Calculamos la correcion de velocidad mediante un filtro PD
-    int vel = (error * KP)/10 + (error-last_error)*KD;
-
-    last_error = error;
-
-    //Corregimos la velocidad de avance con el error de salida del filtro PD
-    int motor_left = constrain((robotSpeed + vel),-100,100);
-    int motor_right =constrain((robotSpeed - vel),-100,100);
-
-    //Movemos el robot
-    //motorsWritePct(motor_left,motor_right);
-    motorsWritePct(motor_left,motor_right);
-
-    //Esperamos un poquito a que el robot reaccione
-    delay(intergrationTime);
-  }
-  else
-  {
-    //Hemos encontrado una linea negra
-    //perpendicular a nuestro camino
-    //paramos el robot
-    motorsStop();
-
-    //y detenemos la ejecución del programa
-    //while(true);
-	reportActionDone();
-	//setMode(MODE_SIMPLE);
-  }
-}  
-
-
-void LineFollow::doCalibration(int speedPct, int time){
-	motorsWritePct(speedPct, -speedPct);
-	unsigned long beginTime = millis();
-	while((millis()-beginTime)<time)
-		ajusta_niveles();
-	motorsStop();
-}
-void LineFollow::ajusta_niveles()
-{
-	int lectura=0;
-
-	for(int count=0; count<5; count++){
-		lectura=IRread(count);
-
-		if (lectura > sensor_blanco[count])
-			sensor_blanco[count]=lectura;
-
-		if (lectura < sensor_negro[count])
-			sensor_negro[count]=lectura;
-	} 
-}
-
-
-
-
-
-