Diff: functions.cpp

Revision:

9:7770a84228c0

Parent:

6:af897173cb75

Child:

10:cec68ef272cd

--- a/functions.cpp	Sat May 23 16:09:43 2015 +0000
+++ b/functions.cpp	Sat May 23 17:09:28 2015 +0000
@@ -82,30 +82,30 @@
 
 void reverse(float speed) {
     printf("Reverse\n");
-    MotorLeft.speed((speed));
+    MotorLeft.speed(-(speed));
     MotorRight.speed(-(speed));
-    wait_ms(1000);
-    return;
+}
+
+void turn(float speed) {
+    printf("Turning\n");
+    MotorLeft.speed(speed);
+    MotorRight.speed(-(speed));
 }
 
 void reverseandturn(float speed) {
     printf("Reverse and turn\n");
     MotorLeft.speed((speed-0.3));
     MotorRight.speed(-(speed-0.1));
-    wait_ms(2000);
-    return;
 }
 
 void charge(float speed) {
     MotorLeft.speed(speed);
     MotorRight.speed(speed);
-    return;
 }
 
 void stop() {
     MotorLeft.speed(0.0);
     MotorRight.speed(0.0);
-    return;
 }
 
 int detect_object(int range, float speed) {
@@ -132,8 +132,7 @@
             break;
         } else {
             sense = 0;
-            MotorLeft.speed(speed);
-            MotorRight.speed(-(speed));
+            turn(speed);
         }
         
         if (inner_t.read_ms() >=100) {