Robot code for searching an object and charging at it.
Dependencies: HCSR04 Motor mbed
Diff: functions.cpp
- Revision:
- 27:96a0ff2f474c
- Parent:
- 26:5ee2a32949e6
- Child:
- 30:8a5570b2de68
diff -r 5ee2a32949e6 -r 96a0ff2f474c functions.cpp --- a/functions.cpp Sun Jun 07 16:36:03 2015 +0000 +++ b/functions.cpp Sun Jun 07 17:30:06 2015 +0000 @@ -252,14 +252,14 @@ return sense; } -void move_detect(float speed, int fwd_bck, int time) { +void move_detect(float speed, int fwd_bck, int time, int wait) { Timer t; t.start(); int detect = 0; if(fwd_bck == 1) { move_forward(speed); - wait_ms(500); + wait_ms(wait); } else { turn(speed + 0.2); } @@ -270,14 +270,14 @@ if(detect == 1) { stop(); turn_leds_on(); - move_detect(-moveforwardspeed,1,1000); + move_detect(-moveforwardspeed,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); + move_detect(moveforwardspeed,1,1000,300); stop(); break; }