revised everything

1 files changed, 0 insertions, 51 deletions

diff --git a/Nate's Position Testing/Shooter Testing/src/opcontrol.c b/Nate's Position Testing/Shooter Testing/src/opcontrol.c
deleted file mode 100644
index df21076..0000000
--- a/Nate's Position Testing/Shooter Testing/src/opcontrol.c
+++ /dev/null
@@ -1,51 +0,0 @@
-#include "main.h"

-

-#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

-#define PI =3.14159

-/*

- * Runs the user operator control code. This function will be started in its own task with the

- * default priority and stack size whenever the robot is enabled via the Field Management System

- * or the VEX Competition Switch in the operator control mode. If the robot is disabled or

- * communications is lost, the operator control task will be stopped by the kernel. Re-enabling

- * the robot will restart the task, not resume it from where it left off.

- *

- * If no VEX Competition Switch or Field Management system is plugged in, the VEX Cortex will

- * run the operator control task. Be warned that this will also occur if the VEX Cortex is

- * tethered directly to a computer via the USB A to A cable without any VEX Joystick attached.

- *

- * Code running in this task can take almost any action, as the VEX Joystick is available and

- * the scheduler is operational. However, proper use of delay() or taskDelayUntil() is highly

- * recommended to give other tasks (including system tasks such as updating LCDs) time to run.

- *

- * This task should never exit; it should end with some kind of infinite loop, even if empty.

- *

-*/

-

-/* notes for Clyne:

- * Other processes should not interupt the collection of data:

- * rotation calculation should be and data collection should be a high priority/primary task

- * Main task= manages tasks, init variables, reset functions (sensors, etc)

- * Primary = sensor data collections and calculations

- * Secondary = drive tasks

- *

- *

- *

- */

-static long lVel,rVel,deltaPos,deltaTime,startTheta,

-					  heading,lDist,rDist,xPos,yPos,

-					  track=15;

-void operatorControl() {

-	heading=startTheta;

-	while (1) {

-

-		//get time 1 the first time

-		heading=((lDist-rDist)/(track*2*PI))*360+startTheta;//heading in degrees. might need to be radians for cosine functions

-		//get time 2

-		deltaPos=(lVel+rVel)/2*deltaTime;

-		xPos+=cos(heading)*deltaPos;

-		yPos+=sin(heading)*deltaPos;

-		//get time 1

-		delay(20);

-

-	}

-}