MRJJ / clickers

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Dependents:   ROCO104_Buggy BuggyDesign

clickers.cpp

Committer:
Mikebob
Date:
2020-03-17
Revision:
3:91541ffdf9a5
Parent:
2:2571dd52276f
Child:
4:595e353826e5

File content as of revision 3:91541ffdf9a5:

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

extern DigitalIn microswitch1;       //Instance of the DigitalIn class called 'microswitch1'
extern DigitalIn microswitch2;       //Instance of the DigitalIn class called 'microswitch2'
extern Motor Wheel;
extern Serial pc;
extern int mm;
extern void dist();
extern bool rStopped, fStopped;
int countDis = 0;
void RevStop()
{
    if (microswitch1 == true)
    {
        microswitch1.read();        
        Wheel.Stop();
        rStopped = true;
        dist();
    }
}
void FwdStop()
{
    dist();
    if (mm<= 500)
    {
        countDis++;
        dist();
    }
    else if (mm<= 500 && countDis > 20)
    {
        Wheel.Stop();
        fStopped = true;
        dist();
    }
    else
    {
        countDis = 0;
        fStopped = false;  
        dist();
    }
}