Test

Diff: main.cpp

Revision:

16:73a8f1db6f76

Parent:

15:e012856b3a61

diff -r e012856b3a61 -r 73a8f1db6f76 main.cpp
--- a/main.cpp	Sat Nov 23 20:08:46 2019 +0000
+++ b/main.cpp	Tue Nov 26 17:13:15 2019 +0000
@@ -14,6 +14,8 @@
 Serial BT(p13,p14);
 Serial pc(USBTX,USBRX);
 BusOut led(p15,p16,p19,p18);
+PwmOut spkr(p23);
+DigitalOut spkrenable(p5);
 
 static XNucleo53L0A1 *board=NULL;
 bool stopMotor = false;
@@ -45,7 +47,7 @@
         if(turbo)
         motor->speed(mspeed);
         if(!turbo)
-        motor->speed(mspeed/1.75);
+        motor->speed(mspeed/1.25);
         }
     else
         motor->speed(0);
@@ -105,6 +107,8 @@
     lm.speed(0);
     rm.speed(0);
     led.write(0);
+    spkrenable = 0;
+    
 
     while (1) {
         status = board->sensor_centre->get_distance(&distance);
@@ -114,7 +118,11 @@
             if (distance < 300) { // Distance might need to be adjusted
                 stopMotor = true;
                 led.write(15*!led.read());
-                wait(.1);    
+                spkrenable = 1;
+                spkr = .5;
+                wait(.1); 
+                spkr = 0;   
+                spkrenable = 0;
                 }
             else{
                 stopMotor = false;