Revision 20:37a89edd1cde, committed 2015-06-07

Comitter:

abdsha01

Date:

Sun Jun 07 14:18:00 2015 +0000

Parent:

19:67ea4e8be9e1

Child:

21:42c0db071a7f

Child:

22:e808fb71847d

Commit message:

Cleaned the code by adding global variables and removing unnecessary code.

Changed in this revision

--- a/functions.cpp	Sat May 30 19:08:26 2015 +0000
+++ b/functions.cpp	Sun Jun 07 14:18:00 2015 +0000
@@ -151,7 +151,6 @@
     int fwd_bck;
     int fwd;
     float random_time;
-    float random_speed;
 
     printf("Moving randomly\n");
     counter = rand() % 5;
@@ -161,15 +160,6 @@
         random_time = rand() % 1000 + 1000;
 
         fwd_bck = rand()%2;
-        //random_speed = (float)rand()/(float)(RAND_MAX);
-        
-        //if (random_speed < 0.6) {
-            //random_speed = 0.5;
-        //} else if (random_speed >= 0.8) {
-            //random_speed = 0.8;
-        //}
-        
-        random_speed = 0.5;
         
         // If fwd_back == 1 move forward or backwards
         if (fwd_bck == 1) {
@@ -177,16 +167,16 @@
             // If fwd == 1 move forward
             if  (fwd == 1) { 
                 printf("Moving forward\n");
-                move_detect(random_speed, fwd_bck, random_time);
+                move_detect(move_forwardspeed, fwd_bck, random_time);
             // If fwd == 0 move bacward
             } else {
                 printf("Moving bacwards\n");
-                move_detect(-random_speed, fwd_bck, random_time);
+                move_detect(-move_forwardspeed, fwd_bck, random_time);
             }   
         // Turn
         } else {
             printf("Turning\n");
-            move_detect(random_speed, fwd_bck, random_time);
+            move_detect(move_forwardspeed, fwd_bck, random_time);
         }
     }
 }
@@ -260,14 +250,14 @@
         if(detect == 1) {
             stop();
             turn_leds_on();
-            move_detect(-0.5,1,1000);
+            move_detect(-move_forwardspeed,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(0.5,1,1000);
+            move_detect(move_forwardspeed,1,1000);
             stop();
             break;
         }

--- a/functions.h	Sat May 30 19:08:26 2015 +0000
+++ b/functions.h	Sun Jun 07 14:18:00 2015 +0000
@@ -1,5 +1,16 @@
 // Header file for functions.cpp
 
+// Global parameters
+// Speed at which it move_forwards an object
+// optimum value: 0.4 to 0.8
+extern float move_forwardspeed;
+// Speed at which it rotates to find an object
+// optimum value: 0.3 to 0.5
+extern float searchspeed;
+// Range of detection
+// optimum value: 30 to 50
+extern unsigned int range;
+
 void flash_leds();
 void turn_leds_on();
 int read_line1();

--- a/main.cpp	Sat May 30 19:08:26 2015 +0000
+++ b/main.cpp	Sun Jun 07 14:18:00 2015 +0000
@@ -34,10 +34,13 @@
 //
 // reverse(speed)
 //                      -   reverses the robot with move_forwardspeed in same position
-
+//
 // reverseandturn(speed)
 //                      -   reverses whie moving in a circular direction
 //
+// stop()
+//                      -   stops the robot
+//
 
 // Libraries for using the above functions and more ...
 #include "mbed.h"
@@ -49,7 +52,6 @@
 // Example: pc(TX, RX)
 //Serial pc(USBTX, USBRX);
 
-
 // Global parameters
 // Speed at which it move_forwards an object
 // optimum value: 0.4 to 0.8