Diff: main.cpp

Revision:

3:f12fee4182d3

Parent:

2:d5dd5e731d4a

diff -r d5dd5e731d4a -r f12fee4182d3 main.cpp
--- a/main.cpp	Mon Jan 10 08:59:56 2022 +0000
+++ b/main.cpp	Mon Jan 10 23:02:27 2022 +0000
@@ -5,7 +5,8 @@
 zumo myzumo;
 Timer t1;
 long v1,v2;
-
+unsigned short i;
+int meandist;
 int main() {
     char v[3];
     Peripheral_PowerDown(LPC1768_PCONP_PCENET|LPC1768_PCONP_PCSPI|LPC1768_PCONP_PCRTC|LPC1768_PCONP_PCI2C2|
@@ -17,22 +18,17 @@
     t1.reset();
     t1.start();
     t1.stop();
-    printf("INIT= %u\r\n",t1.read_us());
+    //printf("INIT= %u\r\n",t1.read_us());
     t1.reset();
+    myled=0;
     
     while(1) {
-        t1.start();
-        myzumo.speed(140,140);     
-        t1.stop();
-        v1=t1.read_us();
-        wait(0.030);
-        t1.reset();
-        t1.start();
+        myzumo.speed(140,140);
+        do{
+            myzumo.read_data_wait(DATA_SENSOR_MEANDIST, (char*)&meandist);
+        }while(meandist<50);
         myzumo.stop();
-        t1.stop();
-        v2=t1.read_us();
-        printf("%u  %u\r\n",v1,v2);
-        wait(.025);
-        
+        myled=1;
+        while(1);
     }
 }