From 17607c45953ed292bdcff9af733dbb8b7be92f9e Mon Sep 17 00:00:00 2001
From: DNOALEE <oliver.ljungberg@epfl.ch>
Date: Sun, 15 May 2022 12:31:06 +0200
Subject: [PATCH] Optimisation of bliky
---
blinky.c | 20 +++++++++-----------
check_collision.c | 11 -----------
check_collision.h | 2 --
3 files changed, 9 insertions(+), 24 deletions(-)
diff --git a/blinky.c b/blinky.c
index 60afff0..c3494f3 100644
--- a/blinky.c
+++ b/blinky.c
@@ -22,18 +22,16 @@ static THD_FUNCTION(Blinky, arg) {
while(1){
// Blink the back LED when the robot moves backward
- if( ((get_acc_case() == 2) | (get_acc_case() == 4)) &
- (get_wall_detection() != 2) ){
+ if(get_wall_detection() != 2){
+ if( ((get_acc_case() == 2) | (get_acc_case() == 4)) ){
- set_led(LED5, 1);
- chThdSleepMilliseconds(300);
- set_led(LED5, 0);
- chThdSleepMilliseconds(200);
- }else if( ((get_acc_case() == 0) | (get_acc_case() == 1) | (get_acc_case() == 3)) &
- (get_wall_detection() != 2) & (get_check_back_wall() == 1) ){
-
- set_led(LED5, 0);
- clear_check_back_wall();
+ set_led(LED5, 1);
+ chThdSleepMilliseconds(300);
+ set_led(LED5, 0);
+ chThdSleepMilliseconds(200);
+ }else{
+ set_led(LED5, 0);
+ }
}
// 10Hz
chThdSleepMilliseconds(100);
diff --git a/check_collision.c b/check_collision.c
index fa90501..b936d5d 100644
--- a/check_collision.c
+++ b/check_collision.c
@@ -24,7 +24,6 @@
* wall_detection = 2 -> wall detected in the back or (front and back)
*/
static uint8_t wall_detection = 0;
-static uint8_t check_back_wall = 0;
// Declaration of functions
void clear_led_but_back(void);
@@ -93,7 +92,6 @@ static THD_FUNCTION(CheckCollision, arg) {
// Front and back detected
}else{
wall_detection = 2;
- check_back_wall = 1;
// Set acc_case to 0
reset_acc_case();
@@ -121,7 +119,6 @@ static THD_FUNCTION(CheckCollision, arg) {
// Set back LEDs and clear front LEDs
wall_detection = 2;
- check_back_wall = 1;
set_led(LED1, 0);
set_rgb_led(LED2, 0, 0, 0);
@@ -165,14 +162,6 @@ uint8_t get_wall_detection(void){
return wall_detection;
}
-uint8_t get_check_back_wall(void){
- return check_back_wall;
-}
-
-void clear_check_back_wall(void){
- check_back_wall = 0;
-}
-
// Clear all LEDs except the back LED
void clear_led_but_back(void){
set_led(LED1, 0);
diff --git a/check_collision.h b/check_collision.h
index 1ed6597..a42498d 100644
--- a/check_collision.h
+++ b/check_collision.h
@@ -13,7 +13,5 @@ void check_collision_start(void);
// Getter of wall_detection
uint8_t get_wall_detection(void);
-uint8_t get_check_back_wall(void);
-void clear_check_back_wall(void);
#endif /* CHECK_COLLISION_H_ */
--
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