PES 2 - Gruppe 1 / Mbed 2 deprecated Robocode_Random

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Dependencies:   mbed

Fork of Robocode by PES 2 - Gruppe 1

Diff: source/Movement.cpp

Revision:
136:b35f2d9b7402
Parent:
135:644346924339
--- a/source/Movement.cpp	Tue May 16 15:24:23 2017 +0000
+++ b/source/Movement.cpp	Tue May 16 16:18:29 2017 +0000
@@ -505,15 +505,23 @@
             }
             rad = (rand()%1 + 1.0f) * 0.7f + 0.3f;
             rad *= sign;
-            dist = (rand()%1 + 1.0f) * 0.5f + 0.5f;
+            dist = (rand()%1 + 1.0f) * 0.5f + 0.2f;
             printf("radius %f || distance %f\r\n", rad, dist);
             move_for_distance_with_radius(dist, rad);
+            //set sensor servos only once because wait is needed
+            set_servo_position(2, 45);
+            set_servo_position(0, -45);
+            wait(0.5f);
             random_state = 1;
             break;
         case 1:
             float dist_ir = getDistanceIR(3);
-            printf("Distance ir3 %f\n\r",dist_ir);
-            if (dist_ir < 0.1f) {
+            float dist_left = 1.0f;
+            float dist_right = 1.0f;
+            dist_left = getDistanceIR(4);
+            dist_right = getDistanceIR(2);
+            printf("Distance left %f || center %f || right %f\n\r",dist_left, dist_ir, dist_right);
+            if (dist_ir < 0.1f || dist_left < 0.1f || dist_right <0.1f) {
                 /*move backwards*/
                 random_state = 2;
             }