Revision 16:02e533e3a91c, committed 2015-05-30

Comitter:

alex0612

Date:

Sat May 30 16:05:07 2015 +0000

Parent:

15:a821a0c599b3

Child:

17:47aa9ef2bec6

Commit message:

Cleaned main

Changed in this revision

--- a/main.cpp	Sat May 30 15:44:01 2015 +0000
+++ b/main.cpp	Sat May 30 16:05:07 2015 +0000
@@ -80,33 +80,44 @@
     Timer t;
     t.start();
     
-    int detect = 0;
+    int detect_l = 0;
+    int detect_o = 0;
 
     while(1) {
         // Sample code to detect and object and charge at it
-        if (detect_object(range, searchspeed)) {
-            while (true) {
-                charge(chargespeed);
+        
+        detect_o = detect_object(range, searchspeed)
+        
+        if (detect_o == 1) {
+            
+            charge(chargespeed);
 
-                detect = detect_line();
+            while (true) {
+              
+                detect_l = detect_line();
                 // If line is detected from front then reverse
-                if(detect == 1) {
+                if(detect_l == 1) {
                     reverse(searchspeed);
                     wait(2);
                     stop();
-                    detect = 0
+                    detect_l = 0
                     break;
                     // If line is detected from back just keep on moving forward
-                } else if (detect == -1) {
+                } else if (detect_l == -1) {
                     wait(2);
                     stop();
-                    detect = 0
+                    detect_l = 0
                     break;
                 }
             }
+            
         } else {
+            
             moverandom();
+            
         }
+        
+        detect_o = 0;
         stop();
     }
 }