Robot code for searching an object and charging at it.
Dependencies: HCSR04 Motor mbed
Diff: functions.cpp
- Revision:
- 25:7662e93a77eb
- Parent:
- 23:07b3c12800a6
- Child:
- 26:5ee2a32949e6
diff -r 513c88816ed8 -r 7662e93a77eb functions.cpp --- a/functions.cpp Sun Jun 07 15:10:43 2015 +0000 +++ b/functions.cpp Sun Jun 07 15:17:02 2015 +0000 @@ -122,25 +122,25 @@ } } -void reverse(float speed = move_forwardspeed) { +void reverse(float speed = moveforwardspeed) { printf("Reverse\n"); MotorLeft.speed(-(speed)); MotorRight.speed(-(speed)); } -void turn(float speed = move_forwardspeed) { +void turn(float speed = moveforwardspeed) { printf("Turning\n"); MotorLeft.speed(speed); MotorRight.speed(-(speed)); } -void reverseandturn(float speed = move_forwardspeed) { +void reverseandturn(float speed = moveforwardspeed) { printf("Reverse and turn\n"); MotorLeft.speed((speed-0.3)); MotorRight.speed(-(speed-0.1)); } -void move_forward(float speed = move_forwardspeed) { +void move_forward(float speed = moveforwardspeed) { MotorLeft.speed(speed); MotorRight.speed(speed); } @@ -186,7 +186,7 @@ MotorRight.speed(0.0); } -int detect_object(int range_t = range, float speed = move_forwardspeed) { +int detect_object(int range_t = range, float speed = moveforwardspeed) { // Start a timer - finds an object for 5 seconds // if it doesn't find anything returns 0 Timer usensor_t, inner_t; @@ -250,14 +250,14 @@ if(detect == 1) { stop(); turn_leds_on(); - move_detect(-move_forwardspeed,1,1000); + move_detect(-moveforwardspeed,1,1000); stop(); break; // If line is detected from back just keep on moving forward } else if (detect == -1) { stop(); turn_leds_on(); - move_detect(move_forwardspeed,1,1000); + move_detect(moveforwardspeed,1,1000); stop(); break; }