Diff: functions.cpp

Revision:

26:5ee2a32949e6

Parent:

25:7662e93a77eb

Child:

27:96a0ff2f474c

--- a/functions.cpp	Sun Jun 07 15:17:02 2015 +0000
+++ b/functions.cpp	Sun Jun 07 16:36:03 2015 +0000
@@ -40,6 +40,22 @@
         myled4 = 0;
 }
 
+void turn_led_left() {
+        myled1 = 1;
+        myled2 = 1;
+        wait(0.1);
+        myled1 = 0;
+        myled2 = 0;
+}
+
+void turn_led_right() {
+        myled3 = 1;
+        myled4 = 1;
+        wait(0.1);
+        myled3 = 0;
+        myled4 = 0;
+}
+
 void flash_leds() {
     Timer t;
     t.start();
@@ -110,37 +126,39 @@
     int line1val = read_line1();
     int line2val = read_line2();
     
-    if ((line1val-line2val) > 50) {
-        printf("Line detected from front");
+    printf("LineSensor readings: %d \n", line1val-line2val);
+    
+    if ((line1val-line2val) > 70) {
+        //printf("Line detected from front");
         return 1;
-    } else if ((line1val-line2val) < -50) {
-        printf("Line detected from back");
+    } else if ((line1val-line2val) < -70) {
+        //printf("Line detected from back");
         return -1;
     } else {
-        printf("Line not detected");
+        //printf("Line not detected");
         return 0;
     }
 }
 
-void reverse(float speed = moveforwardspeed) {
-    printf("Reverse\n");
+void reverse(float speed) {
+    //printf("Reverse\n");
     MotorLeft.speed(-(speed));
     MotorRight.speed(-(speed));
 }
 
-void turn(float speed = moveforwardspeed) {
-    printf("Turning\n");
+void turn(float speed) {
+    //printf("Turning\n");
     MotorLeft.speed(speed);
     MotorRight.speed(-(speed));
 }
 
-void reverseandturn(float speed = moveforwardspeed) {
-    printf("Reverse and turn\n");
+void reverseandturn(float speed) {
+    //printf("Reverse and turn\n");
     MotorLeft.speed((speed-0.3));
     MotorRight.speed(-(speed-0.1));
 }
 
-void move_forward(float speed = moveforwardspeed) {
+void move_forward(float speed) {
     MotorLeft.speed(speed);
     MotorRight.speed(speed);
 }
@@ -152,7 +170,7 @@
     int fwd;
     float random_time;
 
-    printf("Moving randomly\n");
+    //printf("Moving randomly\n");
     counter = rand() % 5;
 
     for (int i = 0; i < counter; i++)
@@ -166,16 +184,16 @@
             fwd = rand()%2;
             // If fwd == 1 move forward
             if  (fwd == 1) { 
-                printf("Moving forward\n");
+                //printf("Moving forward\n");
                 move_detect(speed, fwd_bck, random_time);
             // If fwd == 0 move bacward
             } else {
-                printf("Moving bacwards\n");
+                //printf("Moving bacwards\n");
                 move_detect(speed, fwd_bck, random_time);
             }   
         // Turn
         } else {
-            printf("Turning\n");
+            //printf("Turning\n");
             move_detect(speed, fwd_bck, random_time);
         }
     }
@@ -186,7 +204,7 @@
     MotorRight.speed(0.0);
 }
 
-int detect_object(int range_t = range, float speed = moveforwardspeed) {
+int detect_object(int range_t, float speed) {
     // Start a timer - finds an object for 5 seconds
     // if it doesn't find anything returns 0
     Timer usensor_t, inner_t;
@@ -197,13 +215,15 @@
     sense = 0;
     dist = 0;
     reverse = 0;
-        
-    while (usensor_t.read_ms() < 5000) {
+    
+    while (usensor_t.read_ms() < 15000) {
         // Start the ultrasonic sensor
         usensor.start();
         inner_t.start();
         dist = usensor.get_dist_cm();
         
+        printf("UltraSonic readings: %d \n", dist);
+        
         // If an object is detected based on out set range return 1
         if (dist <= range_t && dist >= 1) {
             sense = 1;