Diff: main.cpp

Revision:

2:5c83943df240

Parent:

1:68153aa41971

Child:

3:9aab8f5b6508

--- a/main.cpp	Fri Apr 24 01:00:24 2015 +0000
+++ b/main.cpp	Fri Apr 24 01:13:41 2015 +0000
@@ -7,32 +7,34 @@
 float data;
 float sum;
 float average;
-float desired;
-float erro;
+
 int p;
 int count;
 int main()
 {
     while(1) {
-
-        for(count=0; count<=100; count++) {
+        data=sonic.read();
+        sum=0;
+        for(p=0; p<=50; p++) {
+            sum =sum+data;
+        }
+        average= sum/50;
+        printf("%f \n",average);
+        while(average>.014198) {
             data=sonic.read();
             sum=0;
             for(p=0; p<=50; p++) {
                 sum =sum+data;
             }
             average= sum/50;
+            L.speed(0.2);
+            R.speed(0.2);
             printf("%f \n",average);
-            desired=.012205;
-            erro=desired-average;
-            
-            if(erro<.001) {
-                L.speed(0.2);
-                R.speed(0.2);
-            }
-          
-
-            wait(.1);
 
         }
+        L.speed(0.0);
+        R.speed(0.0);
+        wait(.01);
+
     }
+}