SOFT564Z Group 3 / Mbed 2 deprecated SOFT564Z_Group_3_final

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Dependencies:   mbed Servo ros_lib_kinetic

Diff: Motors/Motor.cpp

Revision:
10:51dd168b5a96
Parent:
9:326b8f261ef0
Child:
11:12e73437dc9f
--- a/Motors/Motor.cpp	Sat Jan 04 21:35:25 2020 +0000
+++ b/Motors/Motor.cpp	Mon Jan 06 20:38:07 2020 +0000
@@ -15,6 +15,8 @@
 cMotor MotorL(M1_PWM, M1_IN1, M1_IN2);  //Left motor class and pin initialisation
 cMotor MotorR(M2_PWM, M2_IN1, M2_IN2);  //Right motor class and pin initialisation
 
+float *TOFrangePtr[4];
+
 //Servo servo1(srvoTilt);
 //Servo servo2(srvoPan);
 
@@ -117,7 +119,16 @@
         MotorL.Backwards(1.0f);
         wait(0.387);
     }
-
+    
+    //Stop command
+    else if (keyPress.data == 'q') {
+        MotorR.Stop();
+        MotorL.Stop();
+   }
+       //Stop command
+    else if (keyPress.data == 'e') {
+        Check_for_obstacles(*TOFrangePtr);
+   }
 
     else {
         MotorR.Stop();
@@ -142,7 +153,7 @@
 Output Parameters: N/A
 Description: Simple obstacle avoidance functionality
 ----------------------------------------------------------------------------------*/
-void Check_for_obstacles(uint8_t TOFRange[4])
+void Check_for_obstacles(float TOFRange[4])
 {
     //If top right sensor(6) detects something
     if (TOFRange[2]<200) {