Diff: robot.cpp

Revision:

9:f14532fd7a02

Parent:

8:5ca76759a67e

--- a/robot.cpp	Mon Dec 12 13:35:34 2016 +0000
+++ b/robot.cpp	Thu Dec 15 13:50:26 2016 +0000
@@ -18,32 +18,40 @@
 
 int main()
 { 
-/////////////////////////////////////////////////////////////////////////////
-//                          Driving setup                                  // 
-/////////////////////////////////////////////////////////////////////////////
-   
-   while(1)
+  startfunction();
+  distance = 2000;
+  get_to_goal();;
+  robot.stop();
+  distance = 4500;
+  wait_ms(1000);
+  
+   init();
+   while(tickR <= 16)
    {
+    robot.FW(0.5, 0);
+    wait_ms(10);
+    }
+    robot.stop();
+  
+  while(1)   
+  {
+   init();
    startfunction();
    get_to_goal();
-   robot.stop();
-   printf("\n\r DistanceBysensor: %.2f \n", Dcenter());  
-   wait_ms(2000);
+   robot.stop(); 
+   wait_ms(1000);
    
-   init(); 
-   startfunction();
-   turn();
-   robot.stop();
-   }
+   init();
+   while(tickR <= 16)
+   {
+    robot.FW(0.5, 0);
+    wait_ms(10);
+    }
+    robot.stop();
 } 
-/*  
-----------------------------------------------------------------------------
-                            END OF MAIN FUNCTION
-----------------------------------------------------------------------------*/  
+}     
 void startfunction()
 {
-    T1.attach(&read_analog, 1.0); // attach the address of the read_analog
-    //function to read analog in every second
     tacho_left.rise(&tickLeft);  // attach the address of the count function
     //to the falling edge
     tacho_right.rise(&tickRight);  // attach the address of the count function