Revision 7:566d6deaceac, committed 2014-04-02

Comitter:

ELloyd

Date:

Wed Apr 02 12:47:01 2014 +0000

Parent:

6:5767cb4ed8de

Child:

8:7af88a6dbb05

Commit message:

Adjusted so that it will work with programs written for previous versions

Changed in this revision

--- 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() {

--- a/Car.h	Mon Mar 31 12:54:28 2014 +0000
+++ b/Car.h	Wed Apr 02 12:47:01 2014 +0000
@@ -129,8 +129,16 @@
     /**
     * Moves the car in the direction it is facing, until a user
     * tells it to stop.
+    * @param Time is the time in seconds during which it will drive forwards, then stop.
     */
-    void forwards_timed();
+    void forwards_timed(float Time);
+    
+    /**
+    * Moves the car in the direction it is facing, for a specified
+    * distance.
+    * @param distance is how far the car will travel, in cm.
+    */
+    void forwards(float distance);
     
     /**
     * Stops the car from moving.