Test-Stand/Overview.md

@@ -19,115 +19,4 @@ The pitch-roll drone mount allows the drone to be mounted to the test stand when
 See here: https://git.ece.iastate.edu/danc/MicroCART/-/wikis/Test-Stand/Electronics
 
 # The Firmware
-``` cpp
-#include <movingAvg.h>
+The firmware code to run the test stand control board can be viewed in [/test_stand_firmware](/../blob/master/test_stand_firmware)
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-
-const int DATA_PIN = A7;
-const int BUTTON_PIN = 2;
-int buttonState = 0;
-const boolean NO_HANDSHAKE = false;
-const int SEND_CODE = 65;
-int incomingByte = 0;
-
-int val = 0;
-const double TEN_BIT_SCALAR = 0.3516; // 360/1024
-int homePosition;
-
-// Rate variables
-long lastTime = 0;
-long currTime = 0;
-long lastReading = 0;
-long currReading = 0;
-int prevRate = 0;
-long deltaTime = 0;
-long deltaReading = 0;
-
-double rate;
-
-// Long Press Variables
-long buttonTimer = 0;
-const long LONG_PRESS_MILLIS = 250;
-boolean buttonActive = false;
-boolean longPressActive = false;
-boolean isInPositionMode = true;
-movingAvg mySensor(10);
-
-void serialFlush() {
-  while (Serial.available() > 0) {
-    char t = Serial.read();
-  }
-}
-
-void setup() {
-  // put your setup code here, to run once:
-  Serial.begin(9600);
-  pinMode(BUTTON_PIN, INPUT);
-  pinMode(LED_BUILTIN, OUTPUT);
-  homePosition = analogRead(DATA_PIN);
-  homePosition += 512;
-  lastTime = millis();
-  lastReading = analogRead(DATA_PIN);
-  
-  mySensor.begin();
-}
-
-void loop() {
-  currTime = millis();
-  currReading = analogRead(DATA_PIN);
-
-  if (digitalRead(BUTTON_PIN) == HIGH) {
-    if (buttonActive == false) { // Button was not pressed last cycle
-      buttonActive = true;
-      buttonTimer = millis();
-    }
-    if (((millis() - buttonTimer) > LONG_PRESS_MILLIS) && (longPressActive == false)) { // Detected a long press, swap modes
-      longPressActive = true;
-      isInPositionMode = !isInPositionMode;
-    }
-  }
-  else {
-    if (buttonActive == true) { // Button was being pressed last cycle
-      if (longPressActive == true) { // Button was being long pressed last cycle, user has released the long press
-        longPressActive = false;
-      }
-      else { // Short press occured, grab current position regardless of mode
-        homePosition = analogRead(DATA_PIN);
-        homePosition += 512;
-      }
-      buttonActive = false;
-    }
-  }
-
-  // LED on if we're in position mode, off if we're in rate mode
-  digitalWrite(LED_BUILTIN, isInPositionMode);
-
-  if (isInPositionMode == true) {
-    double absoluteDegrees = TEN_BIT_SCALAR * (double) currReading;
-    double relativeDegrees = TEN_BIT_SCALAR * (double) homePosition;
-    double displayPosition = absoluteDegrees - relativeDegrees;
-    displayPosition += (displayPosition < 0) ? (360) : (0);
-    Serial.println((displayPosition-180));
-    delay(100);
-  }
-  else { // We're in rate mode
-    
-    deltaTime = currTime - lastTime;
-    deltaReading = currReading - lastReading;
-    rate = 1000 * ((TEN_BIT_SCALAR * deltaReading) / (deltaTime));
-    
-    // Thanks josh for the fix
-    if(abs(rate - prevRate) > 360) {
-      
-    }else{
-      mySensor.reading(rate);
-      Serial.println(mySensor.getAvg()*-1);
-      delay(50);
-    }
-    prevRate = rate;
-    }
-  // Reset vars for next cycle
-  lastTime = currTime;
-  lastReading = currReading;
-}
-
-```
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