Diff: main.cpp

Revision:

19:67ea4e8be9e1

Parent:

18:7bd638e3926d

Child:

20:37a89edd1cde

--- a/main.cpp	Sat May 30 16:18:31 2015 +0000
+++ b/main.cpp	Sat May 30 19:08:26 2015 +0000
@@ -12,8 +12,8 @@
 // by detetecting an object and charging towards it
 // it uses basic functions as:
 //
-// charge(speed)
-//                      -   used to charge on an object detected
+// move_forward(speed)
+//                      -   used to move_forward on an object detected
 //                          the robot will move in a straight line
 //                          until it detects the arena line where
 //                          it will use reverse() to move back
@@ -33,7 +33,7 @@
 //                          -1 - if line detected from the back
 //
 // reverse(speed)
-//                      -   reverses the robot with chargespeed in same position
+//                      -   reverses the robot with move_forwardspeed in same position
 
 // reverseandturn(speed)
 //                      -   reverses whie moving in a circular direction
@@ -51,9 +51,9 @@
 
 
 // Global parameters
-// Speed at which it charges an object
+// Speed at which it move_forwards an object
 // optimum value: 0.4 to 0.8
-float chargespeed;
+float move_forwardspeed;
 // Speed at which it rotates to find an object
 // optimum value: 0.3 to 0.5
 float searchspeed;
@@ -63,7 +63,7 @@
 
 void initialise()
 {
-    chargespeed = 0.6;
+    move_forwardspeed = 0.6;
     searchspeed = 0.5;
     range = 30;
 
@@ -85,29 +85,32 @@
     int detect_l = 0;
     int detect_o = 0;
 
-    while(1) {
-        // Sample code to detect and object and charge at it
+    while(true) {
+        // Sample code to detect and object and move_forward at it
 
         detect_o = detect_object(range, searchspeed);
 
         if (detect_o == 1) {
 
-            charge(chargespeed);
+            move_forward(move_forwardspeed);
 
             while (true) {
 
                 detect_l = detect_line();
                 // If line is detected from front then reverse
                 if(detect_l == 1) {
+                    stop();
+                    turn_leds_on();
                     reverse(searchspeed);
-                    wait(2);
-                    stop();
+                    wait(1.5);
                     detect_l = 0;
                     break;
-                    // If line is detected from back just keep on moving forward
+                // If line is detected from back just keep on moving forward
                 } else if (detect_l == -1) {
-                    wait(2);
                     stop();
+                    turn_leds_on();
+                    move_forward(searchspeed);
+                    wait(1.5);
                     detect_l = 0;
                     break;
                 }