Diff: main.cpp

Revision:

6:6865930c1135

Parent:

5:dbd32cb3650a

Child:

7:ac88c8e35048

--- a/main.cpp	Tue Oct 04 11:58:03 2022 +0000
+++ b/main.cpp	Tue Oct 04 12:09:19 2022 +0000
@@ -18,10 +18,9 @@
 
 int main() {
     
-    
     m3pi.sensor_auto_calibrate();
     
-    /*Variable initiation*/
+    /*Base program Variable initiation*/
     float right;
     float left;
     float current_pos_of_line = 0.0;
@@ -29,21 +28,48 @@
     float derivative,proportional,integral = 0;
     float power;
     float speed = MAX;
-    
+
+    /*Team 7 Variabels*/
     float batVol = m3pi.battery();  //Storing battery voltage in variable
     float potVol = m3pi.pot_voltage();  //Storing pot voltage
+    int gotopit = 0; // variabel storing weather or not the robot is heading to pit
     
-    /*Printing test*/
+    /*Digital outs*/
+    DigitalOut led1(LED1);
+    
+    
+    /*Printing secret cat mission*/
+    m3pi.cls();
+    
+    m3pi.locate(0,0);
+    m3pi.printf("eliminate");
+    m3pi.locate(0,1);
+    m3pi.printf("all cats");
+    wait(200.0);
+    
     m3pi.cls();
     m3pi.locate(0,0);
-   
     m3pi.printf("%f.3 ",batVol);
     m3pi.locate(0,1);
     m3pi.printf("%f.3 ",b);
-    wait(2.0);
+    wait(200.0);
+    m3pi.cls();
 
+    /*Inital state*/
+    led1 = 0; // Turn off led 1 on the embed
+    
     while (1) {
-
+        
+        /* Test the batteri voltage if the robot is not headed for pit */
+        if (gotopit == 0) {
+            /*Sets the battery voltage to the current voltage of the battery*/
+            batVol = battery ();
+            
+            if batteryVoltage <= BATVOLTRESHOLD (){  
+                gotopit = 1; // set goto pit condition
+                led1 = 1; // trun on Led 1
+            }
+        
         // Get the position of the line.
         current_pos_of_line = m3pi.line_position();        
         proportional = current_pos_of_line;
@@ -78,6 +104,8 @@
        // set speed 
         m3pi.left_motor(left);
         m3pi.right_motor(right);
+        
+        
 
     }
 }
\ No newline at end of file