Revision 27:96a0ff2f474c, committed 2015-06-07

Comitter:

lhartfield

Date:

Sun Jun 07 17:30:06 2015 +0000

Parent:

26:5ee2a32949e6

Child:

29:977f47331d85

Commit message:

Fix to move_detect to avoid missing the line

Changed in this revision

--- 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;
         }

--- a/functions.h	Sun Jun 07 16:36:03 2015 +0000
+++ b/functions.h	Sun Jun 07 17:30:06 2015 +0000
@@ -25,4 +25,4 @@
 void move_forward(float speed = moveforwardspeed);
 void stop();
 int detect_object(int range_t = range, float speed = moveforwardspeed);
-void move_detect(float speed, int fwd_bck, int time);
\ No newline at end of file
+void move_detect(float speed, int fwd_bck, int time, int wait=0);
\ No newline at end of file

--- a/main.cpp	Sun Jun 07 16:36:03 2015 +0000
+++ b/main.cpp	Sun Jun 07 17:30:06 2015 +0000
@@ -91,6 +91,7 @@
 
     while(true) {
         // Sample code to detect and object and move_forward at it
+        
         wait(1);
         
         detect_o = detect_object(range, searchspeed);
@@ -103,7 +104,7 @@
 
                 detect_l = detect_line();
                 // If line is detected from front then reverse
-                if(detect_l == 1) {
+                if(detect_l == 1 || detect_l == -1) {
                     stop();
                     turn_led_right();
                     reverse(searchspeed);
@@ -122,6 +123,6 @@
 
         detect_o = 0;
         stop();
-    }
+    } 
 }