E=MC / Mbed 2 deprecated Shitty_figure8

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Dependencies:   mbed

Fork of Shitty_figure8 by Michael Romain

Files at this revision

API Documentation at this revision

Revision 2:b1226838afb9, committed 2015-03-20

Comitter:
cheryl_he
Date:
Fri Mar 20 10:41:03 2015 +0000
Parent:
1:55e0aaf71bda
Commit message:
added int track_found to break out of loop if we lose the track

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Mar 20 10:18:20 2015 +0000
+++ b/main.cpp	Fri Mar 20 10:41:03 2015 +0000
@@ -24,6 +24,7 @@
 float approxPos;
 float minVal;
 int minLoc;
+int track_found = 1; // 1 if found
 
 //Servo turning parameters
 float straight = 0.00155f;
@@ -123,10 +124,13 @@
     for(int i=0; i<numDownslopes; i++){
         for(int j=0; j<numUpslopes; j++){
             if(upslope_locs[j] - downslope_locs[i] >=4 && upslope_locs[j] - downslope_locs[i] <=5){
-                track_location = downslope_locs[i] + 2 ;
+                track_location = downslope_locs[i] + 2;
             }
         }
     }
+    if (numUpslopes == 0 && numDownslopes == 0){
+        track_found = 0;
+    }
 
     return track_location;
 }
@@ -236,8 +240,7 @@
     
     //wait(5);
     
-    while(1) {
-            
+    while(1 && track_found) {    
         if(integrationCounter % 151== 0){
             //Disable interrupts
             //__disable_irq();
@@ -337,7 +340,7 @@
             ADCdata[integrationCounter - 1] = 1 - camData;
             clk = 0;
         }
-
+        
         //clk = 0;
         integrationCounter++;
         //camData.