Robot code for searching an object and charging at it.
Dependencies: HCSR04 Motor mbed
Diff: functions.cpp
- Revision:
- 9:7770a84228c0
- Parent:
- 6:af897173cb75
- Child:
- 10:cec68ef272cd
diff -r af897173cb75 -r 7770a84228c0 functions.cpp --- 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) {