Remove all ref to sweep

src/motors.c

@@ -344,45 +344,3 @@ int is_running_in_correct_angle(state *s){
     }
     return 0;
 }
-
-//Sweep motor
-
-/**
- * Function which can be used to make the motor sweep at a specified speed at a specified angle
- * @param  s        State structure
- * @param  speed    Speed for Sweep motor (usually MAX_SWEEP_SPEED)
- * @param  angle    Speed for LeE (usually MAX_SWEEP_SPEED)
- * @return          0 if everything is allright -1 else
- */
-int sweep(state *s, int speed, int angle)
-{
-    log_this(s, "[%s:sweep] Sweeping for %d degrees\n", __FILE__, angle);
-    int cur_angle_sweep=ev3_get_position(s->sweepmotor);
-    int rel_sweep_angle = cur_angle_sweep + angle;
-    if (abs(rel_sweep_angle) > MAX_SWEEP_ANGLE) {
-        log_this(s, "[%s:sweep] Sweep failed current sweep angle + desired angle exceed limit (%d(actual) --> %d(desired)) \n", __FILE__, cur_angle_sweep,cur_angle_sweep+ angle);
-        return -1;
-    }
-    //printf("[sweep] current angle=%d desired angle=%d\n",cur_angle_sweep, rel_sweep_angle);
-    ev3_set_speed_sp(s->sweepmotor, speed);
-    ev3_set_position_sp(s->sweepmotor, rel_sweep_angle);
-    ev3_command_motor_by_name(s->sweepmotor, "run-to-abs-pos");
-
-    while (ev3_motor_state(s->sweepmotor) & MOTOR_RUNNING);
-
-    return 0;
-}
-
-/**
- * Function which can be used to make the motor sweep at a specified speed to an absolute angle
- * @param  s        State structure
- * @param  speed    Speed for Sweep motor (usually MAX_SWEEP_SPEED)
- * @param  angle    Speed for LeE (usually MAX_SWEEP_SPEED)
- * @return          0 if everything is allright -1 else
- */
-int sweep_absolute(state *s, int speed, int angle)
-{
-    int current_angle = ev3_get_position(s->sweepmotor);
-    int relative_angle = angle - current_angle;
-    return sweep(s, speed, relative_angle);
-}

src/robot.c

@@ -133,72 +133,6 @@ int look_for_ball_mecanical(state *s)
     return 0;
 }
 
-/**
- * Function to look for the ball when close to the ball area
- * @param s State of LeE
- * @return angle if ball is found SONAR_ERROR_ANGLE otherwise
- */
-int look_for_ball_in_close_perimeter(state *s){
-    sweep(s, 400, MAX_SWEEP_ANGLE);
-    int distanceToBallorObstacle = distance_from_obstacle(s);
-    int turn_sweep= -MAX_SWEEP_ANGLE;
-    log_this(s, "[%s] Look for ball started\n", __FILE__);
-    log_this(s, "[%s] Distance to ball or obstacle %d\n", __FILE__, distanceToBallorObstacle);
-    int sweep_angle=+SWEEP_ANGLE;
-    while((distanceToBallorObstacle == -1 || distanceToBallorObstacle > GAP_MIN_BETWEEN_ROBOT_BALL) && abs(turn_sweep) <= MAX_SWEEP_ANGLE)
-    {
-        turn_sweep+=sweep_angle;
-        //Positive for clockwise turn
-        sweep(s, 400, sweep_angle);
-        usleep(600000);
-        distanceToBallorObstacle = distance_from_obstacle(s);
-        log_this(s, "[%s] Distance to ball %d\n", __FILE__, distanceToBallorObstacle);
-    }
-    if(abs(turn_sweep) > MAX_SWEEP_ANGLE){
-        sweep(s, 400, -MAX_SWEEP_ANGLE);
-        return SONAR_ERROR_ANGLE;
-    }
-    //angle one detected is the first angle where the ball appears
-    int angle_one_detected=turn_sweep;
-    log_this(s, "[%s] First angle where ball is detected %d\n", __FILE__, angle_one_detected);
-
-    //sweep_absolute(s, 100, 0);
-    //return angle_one_detected;
-    /*
-    //Angle is too close to the limit so return the first angle found
-    if(abs(angle_one_detected+ERROR_DISTANCE_MARGIN) >= MAX_SWEEP_ANGLE){
-        int bissect_angle= -angle_one_detected+15;
-        log_this(s, "[%s] Not calculating second angle ball is too close to the limit of the sweeper capability. Ball at angle=%d\n", __FILE__, bissect_angle);
-        sweep_absolute(s, 100, 0);
-        return bissect_angle;
-    }
-     */
-
-    int extra_max_sweep_angle=MAX_SWEEP_ANGLE+10;
-    while(distanceToBallorObstacle <= GAP_MIN_BETWEEN_ROBOT_BALL && abs(turn_sweep) < extra_max_sweep_angle && distanceToBallorObstacle!=-1)
-    {
-        turn_sweep+=sweep_angle;
-        //Positive for clockwise turn added 20 degrees if ball is in the limit of the sweep angle
-        sweep(s, 400, turn_sweep);
-        usleep(600000);
-        distanceToBallorObstacle = distance_from_obstacle(s);
-        log_this(s, "[%s] Distance to ball or obstacle %d\n", __FILE__, distanceToBallorObstacle);
-    }
-    int angle_two_lost=turn_sweep;
-    log_this(s, "[%s] Second angle where ball is not detected anymore %d\n", __FILE__, angle_two_lost);
-
-    //Calculated bisector based on the position of the robot
-    int bissect_angle= (angle_one_detected+angle_two_lost-sweep_angle)/2;
-    log_this(s, "[%s] Calculated bisector to turn to detect ball %d\n", __FILE__, bissect_angle);
-
-    //replace the motors to the original position
-    //sweep_absolute(s, 100, 0);
-    int turn_angle=bissect_angle-SWEEP_ANGLE;
-    turn_imprecise(s, TURNING_SPEED, turn_angle);
-    sweep_absolute(s, 400, 0);
-    return turn_angle;
-}
-
 /**
  * Function to look for the ball anywhere close to the ball area //TODO Anywhere in the arena
  * @param s State of LeE