Revision 1:bd88d4062c97, committed 2015-05-23

Comitter:

abdsha01

Date:

Sat May 23 14:30:32 2015 +0000

Parent:

0:15664f71b21f

Child:

2:6f15a798993d

Commit message:

Updated functions

Changed in this revision

--- a/functions.cpp	Sat May 23 14:13:09 2015 +0000
+++ b/functions.cpp	Sat May 23 14:30:32 2015 +0000
@@ -12,7 +12,7 @@
 int read_line1()
 {
     // Time to record how long input is active
-    Timer t;
+    Timer temp_t;
     
     // Activate the line sensor and then read
     line1.output();
@@ -21,18 +21,18 @@
     line1.input();
     
     // Start timer
-    t.start();
+    temp_t.start();
 
     // Time how long the input is HIGH, but quit
     // after 1ms as nothing happens after that
-    while (line1 == 1 && t.read_us() < 1000);
-    return t.read_us();
+    while (line1 == 1 && temp_t.read_us() < 1000);
+    return temp_t.read_us();
 }
 
 int read_line2()
 {
     // Time to record how long input is active
-    Timer t;
+    Timer temp_t;
     
     // Activate the line sensor and then read
     line2.output();
@@ -45,7 +45,7 @@
 
     // Time how long the input is HIGH, but quit
     // after 1ms as nothing happens after that
-    while (line2 == 1 && t.read_us() < 1000);
+    while (line2 == 1 && temp_t.read_us() < 1000);
     return t.read_us();
 }
 
@@ -78,7 +78,7 @@
 void reverseandturn()
 {
     printf("Reverse and turn\n");
-    MotorLeft.speed((chargespeed-0.2));
+    MotorLeft.speed((chargespeed-0.3));
     MotorRight.speed(-(chargespeed-0.1));
     wait_ms(2000);
     return;
@@ -89,4 +89,33 @@
     MotorLeft.speed(chargespeed);
     MotorRight.speed(chargespeed);
     return;
+}
+
+int detect_object(int smooth)
+{
+    // Start a timer - finds an object for 10 seconds
+    // if it doesn't find anything returns 0
+    Timer usensor_t;
+    usensor_t.start();
+    
+    // Variable to store sensed value
+    int sense;
+        
+    while (usensor_t.readms < 10000)
+    {
+        // Start the ultrasonic sensor
+        usensor.start();
+        dist = usensor.get_dist_cm();
+        
+        // If an object is detected based on out set range return 1
+        if (dist <= range && dist >= 1) {
+            sense = 1;
+            break;
+        } else {
+            sense = 0;
+            MotorLeft.speed(searchspeed);
+            MotorRight.speed(-(searchspeed));
+        }
+    }
+    return sense;
 }
\ No newline at end of file

--- a/main.cpp	Sat May 23 14:13:09 2015 +0000
+++ b/main.cpp	Sat May 23 14:30:32 2015 +0000
@@ -44,7 +44,7 @@
 
 // Setting pins for ultrasonic sensor, as follows:
 // Example: usensor(Trigger, Echo)
-HCSR04  usensor(p25,p26);
+HCSR04 usensor(p25,p26);
 
 // Set for debugging purpose
 // Example: pc(TX, RX)
@@ -52,7 +52,7 @@
 
 
 // Global parameters
-// Speed at which it charged an object
+// Speed at which it charges an object
 // optimum value: 0.4 to 0.8
 float chargespeed;
 // Speed at which it rotates to find an object
@@ -84,35 +84,6 @@
     t.start();
 
     while(1) { // main loop
-        if (dist <= 35 && dist >= 1) {
-            MotorLeft.speed(-0.4);
-            MotorRight.speed(-0.4);
-            Timer t3;
-
-            t3.start();
-
-            //printf("%d,%d,%d\r\n",line1val,line2val,line1val-line2val);
-
-            while (t3.read_ms() < 100) {
-
-                if (((line1val-line2val) > 50) || ((line1val-line2val) < -50)) {
-                    MotorLeft.speed(0.4);
-                    MotorRight.speed(0.4);
-
-                    wait_ms(500);
-
-                    //return 0;
-                    printf("STOP\r\n");
-                }
-                //t.reset();
-            }
-
-        } else {
-            MotorLeft.speed(motorspeed);
-            MotorRight.speed(-(motorspeed));
-        }
-
-        usensor.start();
         if (t.read_ms() >=100) {
             dist=usensor.get_dist_cm();
             motorspeed = -0.8;