Diff: Car.cpp

Revision:

7:566d6deaceac

Parent:

6:5767cb4ed8de

--- a/Car.cpp	Mon Mar 31 12:54:28 2014 +0000
+++ b/Car.cpp	Wed Apr 02 12:47:01 2014 +0000
@@ -104,8 +104,31 @@
     return;
 }   
 
-void Car::forwards_timed() {
+void Car::forwards_timed(float Time) {
+    m_motor.pulsewidth_us(m_speed);
+    wait(Time);
+    stop();
+}
+
+
+void Car::forwards(float distance) { //Temporary extra one so that their current instructions still work.
+    int countsForward = (int)(distance * (m_countsPerRevolution / m_wheelCircumference));
+    
+    m_encoderCount = 0;
+    bool isMoving = true;
     m_motor.pulsewidth_us(m_speed);
+    
+    while(isMoving) {
+        wait(0.2); // <<-- for some unknown reason, this requires a delay to work :-S
+        if(countsForward < m_encoderCount)
+        {
+            isMoving = false;
+        }
+    }
+    // When it's finished, stop the buggy.
+    stop();
+    
+    return;
 }
 
 void Car::stop() {