Revision 10:cec68ef272cd, committed 2015-05-23

Comitter:

abdsha01

Date:

Sat May 23 17:48:01 2015 +0000

Parent:

8:43a650f9d4af

Parent:

9:7770a84228c0

Child:

11:b45798cc3c10

Child:

12:703f75ae2453

Commit message:

Updated stuff

Changed in this revision

--- a/functions.cpp	Sat May 23 17:08:45 2015 +0000
+++ b/functions.cpp	Sat May 23 17:48:01 2015 +0000
@@ -82,30 +82,31 @@
 
 void reverse(float speed) {
     printf("Reverse\n");
-    MotorLeft.speed((speed));
+    MotorLeft.speed(-(speed));
     MotorRight.speed(-(speed));
-    wait_ms(1000);
-    return;
+}
+
+void turn(float speed) {
+    printf("Turning\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));
-    wait_ms(2000);
-    return;
 }
 
 void charge(float speed) {
     MotorLeft.speed(speed);
     MotorRight.speed(speed);
-    return;
 }
 
 void moverandom()
 {
     int counter;
-    int turn;
+    int dir;
     int direction;
     float random_time;
     float random_speed;
@@ -117,7 +118,7 @@
     {
         random_time = rand() % 1000 + 1000;
 
-        turn = rand()/(RAND_MAX);
+        dir = rand()/(RAND_MAX);
         random_speed = (float)rand()/(float)(RAND_MAX);
         if (random_speed < 0.5) {
             random_speed = 0.5;
@@ -125,20 +126,17 @@
             random_speed = 0.8;
         }
         
-        if (turn == 0) {
+        if (dir == 0) {
             direction = rand()/(RAND_MAX);
             if  (direction == 1) { 
-                MotorLeft.speed(random_speed);
-                MotorRight.speed(random_speed);
+                charge(random_speed);
                 wait_ms(random_time);
             } else {
-                MotorLeft.speed(-random_speed);
-                MotorRight.speed(-random_speed);
+                reverse(random_speed);
                 wait_ms(random_time);
             }   
         } else {
-            MotorLeft.speed(-random_speed);
-            MotorRight.speed(random_speed);
+            turn(random_speed);
             wait_ms(random_time);
         }
         return;
@@ -148,7 +146,6 @@
 void stop() {
     MotorLeft.speed(0.0);
     MotorRight.speed(0.0);
-    return;
 }
 
 int detect_object(int range, float speed) {
@@ -175,8 +172,7 @@
             break;
         } else {
             sense = 0;
-            MotorLeft.speed(speed);
-            MotorRight.speed(-(speed));
+            turn(speed);
         }
         
         if (inner_t.read_ms() >=100) {

--- a/functions.h	Sat May 23 17:08:45 2015 +0000
+++ b/functions.h	Sat May 23 17:48:01 2015 +0000
@@ -5,6 +5,7 @@
 int detect_line();
 void moverandom();
 void reverse(float speed);
+void turn(float speed);
 void reverseandturn(float speed);
 void charge(float speed);
 void stop();

--- a/main.cpp	Sat May 23 17:08:45 2015 +0000
+++ b/main.cpp	Sat May 23 17:48:01 2015 +0000
@@ -79,21 +79,33 @@
 
     Timer t;
     t.start();
+    
+    int detect = 0;
 
     while(1) {
-    // Sample code to detect and object and charge at it
-    if (detect_object(range, searchspeed)) {
-         
-        charge(chargespeed);
-        wait(3);
+        // Sample code to detect and object and charge at it
+        if (detect_object(range, searchspeed)) {
+            while (true) {
+                charge(chargespeed);
+
+                detect = detect_line();
+                // If line is detected from front then reverse
+                if(detect == 1) {
+                    reverse(searchspeed);
+                    wait(2);
+                    stop();
+                    break;
+                    // If line is detected from back just keep on moving forward
+                } else if (detect == -1) {
+                    wait(2);
+                    stop();
+                    break;
+                }
+            }
+        } else {
+            moverandom();
+        }
         stop();
-          
-    } else {
-        moverandom();  
-  
-    }
-    
-    stop();
     }
 }