Diff: functions.cpp

Revision:

4:0507835a3dce

Parent:

1:bd88d4062c97

Child:

6:af897173cb75

--- a/functions.cpp	Sat May 23 14:33:29 2015 +0000
+++ b/functions.cpp	Sat May 23 15:05:18 2015 +0000
@@ -5,6 +5,23 @@
 #include "mbed.h"
 #include "Motor.h"
 #include "hcsr04.h"
+#include "functions.h"
+
+// Two sensors are used to detect a line, line_sens1 and line_sens2
+// if there is a difference between the readings of these sensors 
+// the robot has detected a line.
+// Setting pins for line sensor
+DigitalInOut line1(p20);
+DigitalInOut line2(p19);
+
+// Setting pins for motor, as follows:
+// Example: Motor____(PWM, Forward, Reverse)
+Motor MotorLeft(p23, p28, p27);
+Motor MotorRight(p22, p29, p30);
+
+// Setting pins for ultrasonic sensor, as follows:
+// Example: usensor(Trigger, Echo)
+HCSR04 usensor(p25,p26);
 
 // Returns value from the QRE1113
 // lower numbers mean more refleacive
@@ -41,12 +58,12 @@
     line2.input();
     
     // Start timer
-    t.start();
+    temp_t.start();
 
     // Time how long the input is HIGH, but quit
     // after 1ms as nothing happens after that
     while (line2 == 1 && temp_t.read_us() < 1000);
-    return t.read_us();
+    return temp_t.read_us();
 }
 
 int detect_line()
@@ -66,32 +83,39 @@
     }
 }
 
-void reverse()
+void reverse(float speed)
 {
     printf("Reverse\n");
-    MotorLeft.speed((chargespeed));
-    MotorRight.speed(-(chargespeed));
+    MotorLeft.speed((speed));
+    MotorRight.speed(-(speed));
     wait_ms(1000);
     return;
 }
 
-void reverseandturn()
+void reverseandturn(float speed)
 {
     printf("Reverse and turn\n");
-    MotorLeft.speed((chargespeed-0.3));
-    MotorRight.speed(-(chargespeed-0.1));
+    MotorLeft.speed((speed-0.3));
+    MotorRight.speed(-(speed-0.1));
     wait_ms(2000);
     return;
 }
 
-void charge()
+void charge(float speed)
 {
-    MotorLeft.speed(chargespeed);
-    MotorRight.speed(chargespeed);
+    MotorLeft.speed(speed);
+    MotorRight.speed(speed);
     return;
 }
 
-int detect_object(int smooth)
+void stop()
+{
+    MotorLeft.speed(0.0);
+    MotorRight.speed(0.0);
+    return;
+}
+
+int detect_object(int range, float speed)
 {
     // Start a timer - finds an object for 10 seconds
     // if it doesn't find anything returns 0
@@ -99,9 +123,11 @@
     usensor_t.start();
     
     // Variable to store sensed value
-    int sense;
+    int sense, dist;
+    sense = 0;
+    dist = 0;
         
-    while (usensor_t.readms < 10000)
+    while (usensor_t.read_ms() < 10000)
     {
         // Start the ultrasonic sensor
         usensor.start();
@@ -113,8 +139,8 @@
             break;
         } else {
             sense = 0;
-            MotorLeft.speed(searchspeed);
-            MotorRight.speed(-(searchspeed));
+            MotorLeft.speed(speed);
+            MotorRight.speed(-(speed));
         }
     }
     return sense;