Revision 7:a96163893291, committed 2020-05-07

Comitter:

james_plym

Date:

Thu May 07 16:29:28 2020 +0000

Parent:

6:eac1e6a55274

Commit message:

finish product in the basis of time not sensors

Changed in this revision

diff -r eac1e6a55274 -r a96163893291 main.cpp
--- a/main.cpp	Fri Apr 03 15:02:43 2020 +0000
+++ b/main.cpp	Thu May 07 16:29:28 2020 +0000
@@ -40,6 +40,38 @@
 //Variable 'duty' for programmer to use to vary speed as required set here to #define compiler constant see above
 float duty=DUTY;
 //
+
+void fwdBack(){
+     int fBOn = 1;
+     while(fBOn == 1){
+        Wheel.Speed(0.8,0.8); 
+        if (microswitch1 == 1){
+            wait(0.2);
+            Wheel.Speed(-0.8,-0.8);
+            fBOn = 0;
+            }
+        }
+    }
+
+void turn(){
+    int tOn = 1;
+    while (tOn == 1){
+    
+        if (microswitch2 == 1){
+            wait(0.2);
+            Wheel.Speed(0.5,0.5);
+            wait(0.5);
+            Wheel.Speed(0.0,0.8);
+            wait(1);
+            Wheel.Speed(0.8,0.8);
+            wait(2);
+            Wheel.Speed(0.8,0.0);
+            wait(0.5);
+            tOn = 0;
+            }
+        }
+    }
+    
 int main ()
 {
     pc.baud(9600);               //BAUD Rate to 9600
@@ -71,8 +103,22 @@
 // YOUR LINES OF CODE for your stratagy go between HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
     Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
     
-
-    while (true) {
+    int on = 1;
+    
+    while(on == 1){
+        fwdBack();
+        turn();
+        }
+        
+    
+    
+    
+    
+    
+    
+    
+    
+   /* while (true) {
         
         while(microswitch1 == 0);
         {
@@ -97,15 +143,16 @@
         //turn left
         Wheel.Speed(0.0,0.8);
         wait(0.5);
+        
 
 
     }
     
-
-
+*/
+}
 
 // and HERE! +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-} // go back to start of while loop
+// go back to start of while loop
 //end of int main()