Revision 2:7f48771d8c52, committed 2016-07-27

Comitter:

s1210160

Date:

Wed Jul 27 11:12:36 2016 +0000

Parent:

1:eb812097900f

Commit message:

2016/07/27

Changed in this revision

--- a/main.cpp	Sat Jul 23 10:46:02 2016 +0000
+++ b/main.cpp	Wed Jul 27 11:12:36 2016 +0000
@@ -146,7 +146,7 @@
 }
 
 // back (5 seconds) -> forward (10 seconds)
-void stack_action(int speed)
+void stuck_action(int speed)
 {
 
     Timer back_Timer;
@@ -194,14 +194,14 @@
     const int GPS_Time = 1000;
     Timer action_Timer;
     const int action_time = 500;
-    Timer stack_Timer;
-    const int stack_time = 5000;
+    Timer stuck_Timer;
+    const int stuck_time = 5000;
 
     xbee.printf("start\n");
 
     GPS_Timer.start();
     action_Timer.start();
-    stack_Timer.start();
+    stuck_Timer.start();
 
     while(true) {
 
@@ -265,17 +265,17 @@
             xbee.printf("***STOP***\n");
         }
 
-        // stack check
+        // stuck check
         if(!(d-0.15 <= distance && distance <= d+0.15)) {
             if(compass != robot_compass()) {
-                stack_Timer.reset();
+                stuck_Timer.reset();
             }
         }
 
-        // stack
-        if(stack_Timer.read_ms() >= stack_time) {
-            if(state == 1)stack_action(speed);
-            stack_Timer.reset();
+        // stuck
+        if(stuck_Timer.read_ms() >= stuck_time) {
+            if(state == 1)stuck_action(speed);
+            stuck_Timer.reset();
         }
     }
     return 0;