Diff: main.cpp

Revision:

19:65fecaa2a387

Parent:

18:831c1e03d83e

Child:

20:7dcdadbd7bc0

--- a/main.cpp	Tue Oct 26 22:56:10 2021 +0000
+++ b/main.cpp	Thu Oct 28 00:28:29 2021 +0000
@@ -1,20 +1,18 @@
+#include "MMA8451Q.h"
 #include "mbed.h"
 #include "driving.h"
 #include "steering_header.h"
 #include "steering_methods.h"
 #include "state_control.h"
-#include "MMA8451Q.h"
+
 #include <iostream>
 #include "bluetooth.h"
-#define MMA8451_I2C_ADDRESS (0x1d<<1)
+
 
 Serial pc(USBTX, USBRX); // tx, rx
 
 
-PinName const SDA = PTE25;
-PinName const SCL = PTE24;
 
-MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
 Ticker motorLoop;
 Ticker fault_detector; 
 Timer t;
@@ -25,9 +23,9 @@
     PI();
     };
     
-DigitalOut mm(PTC17);
+
 int main() { 
-    mm=1;
+  
     state_update();
     //Delcare Onboard LED with blue color
     DigitalOut led_b(LED_BLUE);
@@ -84,11 +82,13 @@
      switch(fault_type) {
          case CLEAR :       bt.printf("\r\nFault: CLEAR"); break; 
          case OFF_TRACK:    bt.printf("\r\nFault: OFF TRACK"); break;
-         case BUMPER :      bt.printf("\r\nFault: OBSTACLE"); break;
+         case COLLISION :      bt.printf("\r\nFault: COLLISION"); break;
          case LOW_VOLTAGE : bt.printf("\r\nFault: LOW VOLTAGE");  break;
           }
+          bt.printf("\n\n----"); 
+          bt.printf("Landmark counter : %d", counter);
           
-x = abs(acc.getAccX());
+
 //pot1Voltage = pot1 * 3.3f;
 //dutyCycleLeft = (pot1 * fullBatScalar);
 //dutyCycleRight = (pot1 * fullBatScalar);