Diff: main.cpp

Revision:

1:936e329e840a

Parent:

0:4d1ae7eb0070

Child:

2:1e947dcc40cb

--- a/main.cpp	Fri May 22 13:34:01 2015 +0000
+++ b/main.cpp	Fri May 22 14:06:50 2015 +0000
@@ -6,7 +6,7 @@
 m3pi m3pi;
 btbee btbee;
 DigitalIn m3pi_pb(p21);
-DigitalIn m3pi_IN[] = {(p12),(p21)};
+DigitalIn m3pi_IN[] = {(p12)};
 DigitalOut mbed_led[] = {(LED1), (LED2),(LED3), (LED4)};
 DigitalOut m3pi_led[] = {(p13), (p14), (p15), (p16), (p17), (p18), (p19), (p20)};
 
@@ -21,7 +21,9 @@
 
 int main() {
     
-
+ double IR;
+    
+while(1) {
     
     btbee.reset();
     m3pi_pb.mode(PullUp);
@@ -37,7 +39,7 @@
         btbee.printf("PC connected. Press the button \n");
     }
     
-    
+    m3pi.cls();
     
     Timer LapTimer;
     char Bat[] = {'V','o','l','t',' ','i','s'};
@@ -73,9 +75,10 @@
     
     btbee.printf("Finished calibrating \n");
     
-    if (m3pi_IN [0] == 0) {
-    btbee.printf("Obstacle detected. Stopping program");
-    exit(1);
+       while (m3pi_IN [0] == 0) {
+    btbee.printf("Obstacle detected. Please remove to continue");
+    m3pi.stop();
+    wait(3.0);
     }
 
     float right;
@@ -94,9 +97,11 @@
     btbee.printf("Now starting \n");
     
     
-    while (1) {
+    
     
-
+    while (1) {
+        
+    
         // Get the position of the line.
         current_pos_of_line = m3pi.line_position();        
         proportional = current_pos_of_line;
@@ -209,4 +214,6 @@
 
     }
     
-}
\ No newline at end of file
+}
+
+}