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Dependencies:   mbed

AutoDrive.cpp@14:0caa7b93af7a, 2018-05-23 (annotated)

Committer:
Alexander_Zuest
Date:
Wed May 23 11:50:58 2018 +0000
Revision:
14:0caa7b93af7a
Parent:
5:695c5531f65e 
50% Chance for working Routecalculation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Alexander_Zuest 2:cb6bae534500 1 #include "mbed.h"
Alexander_Zuest 2:cb6bae534500 2 #include "MotorDriver.h"
Alexander_Zuest 2:cb6bae534500 3 #include "ReadFinalLine.h"
Alexander_Zuest 2:cb6bae534500 4 #include "ReadSensor.h"
Alexander_Zuest 2:cb6bae534500 5 #include "AutoDrive.h"
Alexander_Zuest 2:cb6bae534500 6 #include "RouteCalculation.h"
Alexander_Zuest 14:0caa7b93af7a 7
Alexander_Zuest 14:0caa7b93af7a 8 void autoDrive(char route[]){
Alexander_Zuest 14:0caa7b93af7a 9
Alexander_Zuest 0:4a0b987c5c94 10 int action = 0;
Alexander_Zuest 0:4a0b987c5c94 11 int speed = 3;
Alexander_Zuest 2:cb6bae534500 12 int placeholder = 1;
Alexander_Zuest 14:0caa7b93af7a 13
Alexander_Zuest 14:0caa7b93af7a 14 while(route[action] != 5){
Alexander_Zuest 0:4a0b987c5c94 15
Alexander_Zuest 5:695c5531f65e 16 switch(route[action]){
Alexander_Zuest 0:4a0b987c5c94 17 case 1: // Fulldrive
Alexander_Zuest 5:695c5531f65e 18 driveOne(speed,route[action+1]);
Alexander_Zuest 0:4a0b987c5c94 19 break;
Alexander_Zuest 0:4a0b987c5c94 20
Alexander_Zuest 0:4a0b987c5c94 21 case 2: // turn Right
Alexander_Zuest 2:cb6bae534500 22 turnRight(placeholder);
Alexander_Zuest 0:4a0b987c5c94 23 break;
Alexander_Zuest 0:4a0b987c5c94 24
Alexander_Zuest 0:4a0b987c5c94 25 case 3: // turn Left
Alexander_Zuest 2:cb6bae534500 26 turnLeft(placeholder);
Alexander_Zuest 0:4a0b987c5c94 27 break;
Alexander_Zuest 0:4a0b987c5c94 28
Alexander_Zuest 0:4a0b987c5c94 29 case 4: // turn right on spot
Alexander_Zuest 2:cb6bae534500 30 turnRight(placeholder);
Alexander_Zuest 0:4a0b987c5c94 31 break;
Alexander_Zuest 0:4a0b987c5c94 32
Alexander_Zuest 0:4a0b987c5c94 33 default: printf("Error: route could not be red!");
Alexander_Zuest 0:4a0b987c5c94 34 }
Alexander_Zuest 0:4a0b987c5c94 35
Alexander_Zuest 14:0caa7b93af7a 36 action = action + 2;
Alexander_Zuest 0:4a0b987c5c94 37 }
Alexander_Zuest 0:4a0b987c5c94 38 printf("The target destination has been sucessfully reached!");
Alexander_Zuest 0:4a0b987c5c94 39
Alexander_Zuest 0:4a0b987c5c94 40 }