From 2d0f17a4bc4072aefe7bf00cd70f277cf0c2ee5e Mon Sep 17 00:00:00 2001
From: soapysoltionss <2200754@sit.singaporetech.edu.sg>
Date: Tue, 31 Oct 2023 15:45:37 +0800
Subject: [PATCH] Revert "add direction control"

This reverts commit ed3c440ebc75ec94c5ad7f7a0314c07860f48d6f.
---
 frtos/config/motor_config.h |  5 -----
 frtos/motor/motor_speed.h   | 42 -------------------------------------
 2 files changed, 47 deletions(-)

diff --git a/frtos/config/motor_config.h b/frtos/config/motor_config.h
index 6d2cf0e..267d672 100644
--- a/frtos/config/motor_config.h
+++ b/frtos/config/motor_config.h
@@ -18,11 +18,6 @@
 #define DIRECTION_LEFT_FORWARD      (1U << DIRECTION_PIN_LEFT_IN4)
 #define DIRECTION_LEFT_BACKWARD     (1U << DIRECTION_PIN_LEFT_IN3)
 
-#define DIRECTION_FORWARD           (DIRECTION_RIGHT_FORWARD | DIRECTION_LEFT_FORWARD)
-#define DIRECTION_BACKWARD          (DIRECTION_RIGHT_BACKWARD | DIRECTION_LEFT_BACKWARD)
-#define DIRECTION_LEFT              (DIRECTION_RIGHT_FORWARD | DIRECTION_LEFT_BACKWARD)
-#define DIRECTION_RIGHT             (DIRECTION_RIGHT_BACKWARD | DIRECTION_LEFT_FORWARD)
-
 #define SPEED_PIN_RIGHT             15U
 #define SPEED_PIN_LEFT              16U
 
diff --git a/frtos/motor/motor_speed.h b/frtos/motor/motor_speed.h
index d573276..520fbee 100644
--- a/frtos/motor/motor_speed.h
+++ b/frtos/motor/motor_speed.h
@@ -72,46 +72,4 @@ monitor_wheel_speed_task(void *pvParameters)
             p_motor->speed.current_cms = 0.f;
         }
     }
-}
-
-
-/*!
- * @brief Set the distance to travel before stopping, must be called after
- * setting the speed and direction.
- * @param distance_cm distance to travel in cm
- */
-void
-distance_to_stop(float distance_cm)
-{
-    float initial = g_motor_right.speed.distance_cm;
-    printf("initial: %f\n", initial);
-
-    for (;;)
-    {
-        if (g_motor_right.speed.distance_cm - initial >= distance_cm)
-        {
-            g_motor_right.pwm.level = 0;
-            g_motor_left.pwm.level  = 0;
-            break;
-        }
-        // vTaskDelay(pdMS_TO_TICKS(50));
-    }
-}
-
-/*!
- * @brief Set the speed of the wheels
- * @param pwm_level The pwm_level of the wheels, from 0 to 5000
- */
-void
-set_wheel_speed(uint32_t pwm_level)
-{
-    g_motor_right.pwm.level = pwm_level;
-    g_motor_left.pwm.level  = pwm_level;
-
-    pwm_set_chan_level(g_motor_right.pwm.slice_num,
-                       g_motor_right.pwm.channel,
-                       g_motor_right.pwm.level);
-    pwm_set_chan_level(g_motor_left.pwm.slice_num,
-                       g_motor_left.pwm.channel,
-                       g_motor_left.pwm.level);
 }
\ No newline at end of file