MRJJ / Movement

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Dependents:   ROCO104_Buggy BuggyDesign

Movement.cpp

Committer:
Mikebob
Date:
2020-03-17
Revision:
1:401bcbb58715
Parent:
0:0285394cacfa
Child:
2:878b6fd215d7

File content as of revision 1:401bcbb58715:

#include "mbed.h"
#include "motor.h"
#include "UltraSonic.h"
#include "clickers.h"

extern bool rStopped, fStopped;
extern Motor Wheel;
extern int HallState;
extern void dist();
extern Serial pc;
int i = 0;
void Direction (){
    switch(HallState)
            {
            case 0:
                if(fStopped == false){
                    dist();
                    if (i<1)
                    {
                        Wheel.Speed(1.0,1.0);//forward 100%
                        pc.printf("Do this once\n\r");
                        i++;
                    }
                    
                    //FwdStop();
                }
                else if (fStopped == true)
                    HallState = 1;
                break;
            case 1:
                if(fStopped == true && rStopped == false){
                    Wheel.Speed(-1.0,-1.0);//backward 100%
                    RevStop();
                    dist();
                }
                else if(fStopped == true && rStopped == true)
                    HallState = 2;
                break;
            case 2:
                Wheel.Speed(1.0,-1.0);//Right 100%
                wait_ms(500);
                Wheel.Speed(1.0,1.0);//forward 100%
                wait_ms(500);
                Wheel.Speed(-1.0,1.0);//Left 100%
                wait_ms(500);
                Wheel.Stop();
                HallState = 3;
                break;
            case 3:
            {
                
            }
            }    
}