From 4ca35acd1aeddb9de619b75e0ab756d36c0f7ce5 Mon Sep 17 00:00:00 2001
From: Christopher Baines <cbaines8@gmail.com>
Date: Mon, 28 Mar 2011 15:43:57 +0100
Subject: Minor changes to the debuging and removing comments from some of the
 debug statements

---
 SnakeMaster/SnakeMaster.pde | 14 ++++++--------
 1 file changed, 6 insertions(+), 8 deletions(-)

diff --git a/SnakeMaster/SnakeMaster.pde b/SnakeMaster/SnakeMaster.pde
index f1dce2c..5b6c77d 100644
--- a/SnakeMaster/SnakeMaster.pde
+++ b/SnakeMaster/SnakeMaster.pde
@@ -17,7 +17,7 @@
 #include <math.h>
 #include <Servo.h>
 
-const int debugLevel = 2; // 0 = No debug output  1 = main debug output 2 = low level movement debug output
+const int debugLevel = 2; // 0 = No debug output 1 = main debug output 2 = low level movement debug output 3 = regulator output
 
 const int numberOfServos=2;
 Servo servo[numberOfServos];
@@ -82,13 +82,11 @@ void loop() {
  */
 
 void moveServoTo(byte servoNum, int angle, int time) {
-  //debug("Setting servo",0);
   servoTargetAngle[servoNum] = angle;
   servoTargetTime[servoNum] = time + millis();
 }
 
 void moveSectionTo(byte sectionNum, int xAngle, int yAngle, int time) {
-  //debug("Setting section " + sectionNum + " to move to " + xAngle + " x and " + yAngle + " y in " + time " milliseconds");
   moveServoTo((sectionNum*2)-2,xAngle,time);
   moveServoTo((sectionNum*2)-1,yAngle,time);
 }
@@ -153,11 +151,11 @@ void snakeDrawCircle(byte firstSectionNum, byte lastSectionNum, float arcRadius,
     for (int angle=startAngle; angle<endAngle; angle=angle+5) {
       debug("Angle ",2);
       debugln(angle,2);
-      /*debug("Snake bend ",2);
+      debug("Snake bend ",2);
       debug(cos(angle*(3.14/180.0))*arcAngle,2);
       debug(" x ",2);
       debug(sin(angle*(3.14/180.0))*arcAngle,2);
-      debugln(" y",2);*/
+      debugln(" y",2);
       snakeBend(firstSectionNum, lastSectionNum, 90.0+cos(angle*(3.14/180.0))*arcAngle, 90.0+sin(angle*(3.14/180.0))*arcAngle, time/(endAngle-startAngle));
       debug("Delay ",2);
       debugln((endTime-millis())/(endAngle-angle),2);
@@ -168,11 +166,11 @@ void snakeDrawCircle(byte firstSectionNum, byte lastSectionNum, float arcRadius,
     for (int angle=endAngle; angle>startAngle; angle=angle-5) { // Start Angle and End Angle are reversed in this loop as it is moving in reverse
       debug("Angle ",2);
       debugln(angle,2);
-      /*debug("Snake bend ",2);
+      debug("Snake bend ",2);
       debug(cos(angle*(3.14/180.0))*arcAngle,2);
       debug(" x ",2);
       debug(sin(angle*(3.14/180.0))*arcAngle,2);
-      debugln(" y",2);*/
+      debugln(" y",2);
       snakeBend(firstSectionNum, lastSectionNum, 90.0+cos(angle*(3.14/180.0))*arcAngle, 90.0+sin(angle*(3.14/180.0))*arcAngle, time/(endAngle-startAngle));
       debug("Delay ",2);
       debugln((endTime-millis())/(angle-startAngle),2);
@@ -320,4 +318,4 @@ void debug(float message, int messageDebugLevel) {
 
 
 
-
+
-- 
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