Revision 37:a08d2e37b7e6, committed 2016-10-12

Comitter:

alex0612

Date:

Wed Oct 12 11:13:45 2016 +0000

Parent:

36:0a69dc7bfcf9

Child:

38:decff231d886

Commit message:

Cleaned up functions names and added functions to turn and light LEDs

Changed in this revision

--- a/functions.cpp	Tue Jun 09 10:28:16 2015 +0000
+++ b/functions.cpp	Wed Oct 12 11:13:45 2016 +0000
@@ -28,6 +28,27 @@
 // Example: usensor(Trigger, Echo)
 HCSR04 usensor(p25,p26);
 
+void turn_led_on(int LED) {
+        switch(LED) {
+            case 1:
+                myled1 = 1;
+                wait(0.1);
+                myled1 = 0;
+            case 2:
+                myled2 = 1;
+                wait(0.1);
+                myled2 = 0;
+            case 3:
+                myled3 = 1;
+                wait(0.1);
+                myled3 = 0;
+            case 4:
+                myled4 = 1;
+                wait(0.1);
+                myled4 = 0;
+        }
+}
+
 void turn_leds_on() {
         myled1 = 1;
         myled2 = 1;
@@ -146,19 +167,25 @@
     MotorRight.speed(-(speed));
 }
 
-void turn(float speed) {
-    //printf("Turning\n");
+void turn_left(float speed) {
+    //printf("Turning left\n");
     MotorLeft.speed(speed);
     MotorRight.speed(-(speed));
 }
 
+void turn_right(float speed) {
+    //printf("Turning right\n");
+    MotorLeft.speed(-(speed));
+    MotorRight.speed(speed);
+}
+
 void reverseandturn(float speed) {
     //printf("Reverse and turn\n");
     MotorLeft.speed((speed-0.3));
     MotorRight.speed(-(speed-0.1));
 }
 
-void move_forward(float speed, float adj) {
+void forwards(float speed, float adj) {
     MotorLeft.speed(speed+adj);
     MotorRight.speed(speed);
 }
@@ -232,7 +259,7 @@
             break;
         } else {
             sense = 0;
-            turn(speed);
+            turn_left(speed);
         }
         
         if (inner_t.read_ms() >=100) {
@@ -258,10 +285,10 @@
     int detect = 0;
     
     if(fwd_bck == 1) {
-        move_forward(speed);
+        forwards(speed);
         wait_ms(wait);
     } else {
-        turn(speed + 0.2);
+        turn_left(speed + 0.2);
     }
     
     while (t.read_ms() < time) {

--- a/functions.h	Tue Jun 09 10:28:16 2015 +0000
+++ b/functions.h	Wed Oct 12 11:13:45 2016 +0000
@@ -22,6 +22,7 @@
 
 
 void flash_leds();
+void turn_led_on(int LED);
 void turn_leds_on();
 void turn_led_right();
 void turn_led_left();
@@ -30,9 +31,10 @@
 int detect_line();
 void move_random(float speed = forwardspeed);
 void reverse(float speed = reversespeed, float adj = ADJUSTMENT);
-void turn(float speed = forwardspeed);
+void turn_left(float speed = forwardspeed);
+void turn_right(float speed = forwardspeed);
 void reverse_and_turn(float speed = reversespeed);
-void move_forward(float speed = forwardspeed, float adj = ADJUSTMENT);
+void forwards(float speed = forwardspeed, float adj = ADJUSTMENT);
 void stop();
 int detect_object(int range_t = range, float speed = searchspeed);
 void move_detect(float speed, int fwd_bck, int time, int wait=0);
\ No newline at end of file

--- a/main.cpp	Tue Jun 09 10:28:16 2015 +0000
+++ b/main.cpp	Wed Oct 12 11:13:45 2016 +0000
@@ -13,11 +13,25 @@
 // by detetecting an object and charging towards it.
 // It uses the following basic functions:
 //
-// move_forward(speed)
-//                      -   Used to move the robot toward a detected object.
-//                          The robot will move forwards in a straight line
-//                          until it detects the arena line where
-//                          it will use reverse() to move back
+// forwards(speed)
+//                      -   Sets the motor speeds in order to go forwards.
+//
+// reverse(speed)
+//                      -   Sets the motor speeds in order to go backwards.
+//
+// turn_left(speed)
+//                      -   Sets the motor speeds to turn the robot to the left.
+//
+// turn_right(speed)
+//                      -   Sets the motor speeds to turn the robot to the right.
+//
+// stop()
+//                      -   Sets the motor speeds to 0.
+//
+// turn_led_on(LED)
+//                      -   Turns on the LED on the mbed specified by the 
+//                          number passed as the argument
+//                              Values need to be between 1 and 4
 //
 // detect_object(range, speed)
 //                      -   Used to detect an object, the robot will
@@ -31,12 +45,6 @@
 //                              1  - if line detected from the front
 //                              -1 - if line detected from the back
 //
-// reverse(speed)
-//                      -   Reverses the robot in a straight line at given speed.
-//
-// stop()
-//                      -   Stops the robot.
-//
 // move_random(speed)
 //                      -   Used to move the robot randomly: the robot will either
 //                          move forward, move backward, or turn around. The movement 
@@ -104,7 +112,7 @@
 
         if (detect_o == 1) {
 
-            move_forward(forwardspeed);
+            forwards(forwardspeed);
 
             while (true) {