MEGACARAZ / Mbed 2 deprecated PID

PIDs and fun

Dependencies:   btbee m3pi_ng mbed FatFileSystemCpp

Diff: main.cpp

Revision:
3:ebe015c72bba
Parent:
2:1e947dcc40cb
Child:
4:0bcd7a924140
--- a/main.cpp	Wed May 27 11:38:48 2015 +0000
+++ b/main.cpp	Wed May 27 11:49:58 2015 +0000
@@ -87,6 +87,7 @@
     int counter = -1;
     int checkvar = 0;
     double Time1, Time2, Time3, Time4, Time5, TimeAve;
+    bool IR = 1;
     btbee.printf("\n");
     btbee.printf("Now starting \n");
     
@@ -95,13 +96,16 @@
     
     while (1) {
         
-    if(m3pi_IN [0] == 0) {
-        while (m3pi_IN [0] == 0) {
+    IR = m3pi_IN [0];
+        
+    if(m3pi_IN [0] == 0 and IR == 0) {
+        while (m3pi_IN [0] == 0 and IR == 0) {
     btbee.printf("Obstacle detected. Please remove to continue");
     m3pi.stop();
     wait(3.0);
     }
 }
+        IR = 1;
         
        // Get the position of the line.
         current_pos_of_line = m3pi.line_position();