Robot code for searching an object and charging at it.
Dependencies: HCSR04 Motor mbed
Diff: functions.cpp
- Revision:
- 30:8a5570b2de68
- Parent:
- 27:96a0ff2f474c
- Child:
- 33:4d0fe8fbed68
diff -r 977f47331d85 -r 8a5570b2de68 functions.cpp --- a/functions.cpp Sun Jun 07 17:34:17 2015 +0000 +++ b/functions.cpp Sun Jun 07 18:35:04 2015 +0000 @@ -21,8 +21,8 @@ // Setting pins for motor, as follows: // Example: Motor____(PWM, Forward, Reverse) -Motor MotorLeft(p23, p27, p28); -Motor MotorRight(p22, p30, p29); +Motor MotorRight(p23, p27, p28); +Motor MotorLeft(p22, p30, p29); // Setting pins for ultrasonic sensor, as follows: // Example: usensor(Trigger, Echo) @@ -140,10 +140,10 @@ } } -void reverse(float speed) { +void reverse(float speed, float adj) { //printf("Reverse\n"); MotorLeft.speed(-(speed)); - MotorRight.speed(-(speed)); + MotorRight.speed(-(speed)-adj); } void turn(float speed) { @@ -158,9 +158,9 @@ MotorRight.speed(-(speed-0.1)); } -void move_forward(float speed) { +void move_forward(float speed, float adj) { MotorLeft.speed(speed); - MotorRight.speed(speed); + MotorRight.speed(speed+adj); } void move_random(float speed) @@ -216,7 +216,7 @@ dist = 0; reverse = 0; - while (usensor_t.read_ms() < 15000) { + while (usensor_t.read_ms() < 10000) { // Start the ultrasonic sensor usensor.start(); inner_t.start(); @@ -270,14 +270,14 @@ if(detect == 1) { stop(); turn_leds_on(); - move_detect(-moveforwardspeed,1,1000,300); + move_detect(-forwardspeed,1,1000,300); stop(); break; // If line is detected from back just keep on moving forward } else if (detect == -1) { stop(); turn_leds_on(); - move_detect(moveforwardspeed,1,1000,300); + move_detect(forwardspeed,1,1000,300); stop(); break; }