Diff: main.cpp

Revision:

1:68153aa41971

Parent:

0:a4ee67431356

Child:

2:5c83943df240

diff -r a4ee67431356 -r 68153aa41971 main.cpp
--- a/main.cpp	Thu Apr 23 23:49:13 2015 +0000
+++ b/main.cpp	Fri Apr 24 01:00:24 2015 +0000
@@ -1,11 +1,38 @@
 #include "mbed.h"
 #include "Motor.h"
 AnalogIn sonic(p15);
-float data;
+Motor R(p24, p25, p26);
+Motor L(p21, p22, p23);
 
-int main() {
+float data;
+float sum;
+float average;
+float desired;
+float erro;
+int p;
+int count;
+int main()
+{
     while(1) {
-        data=bed.read();
-        printf("%f \n",data);
+
+        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);
+            desired=.012205;
+            erro=desired-average;
+            
+            if(erro<.001) {
+                L.speed(0.2);
+                R.speed(0.2);
+            }
+          
+
+            wait(.1);
+
+        }
     }
-}