Diff: Motors/Motor.cpp

Revision:

7:8248af58df5a

Parent:

6:2cc2aac35868

Child:

8:262c6c40bff9

diff -r 2cc2aac35868 -r 8248af58df5a Motors/Motor.cpp
--- a/Motors/Motor.cpp	Tue Nov 12 12:56:02 2019 +0000
+++ b/Motors/Motor.cpp	Tue Nov 19 12:55:44 2019 +0000
@@ -3,13 +3,27 @@
 Description: Main program loop
 --------------------------------------------------------------------------------*/
 #include "Buzzer.h"
+#include "Motor.h"
 #include "LED.h"
-#include "Motor.h"
 
 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
+
+//Class definitions
+cBuzzer cBuzzer(Buzz);
 cRGB_LED cRGB_LED(DIAG_RED, DIAG_BLU, DIAG_GRN);
-cBuzzer cBuzzer(Buzz);
+
+
+/*--------------------------------------------------------------------------------
+Function name: update_power_levels
+Input Parameters: vBatt
+Output Parameters: N/A
+Description: Function used to send the battery level over to the LED class locally from global source files
+----------------------------------------------------------------------------------*/
+void update_power_levels(float vBatt)
+{
+    cRGB_LED.record_power(vBatt);
+}
 
 /*--------------------------------------------------------------------------------
 Function name: Check_for_obstacles
@@ -21,68 +35,76 @@
 {
     //If top right sensor(6) detects something
     if (TOFRange[2]<200) {
-       cBuzzer.Beep();
-       cRGB_LED.red_led();
+
         if(TOFRange[2]>150) {   //Provided its 15cm away...
-            
+            cBuzzer.Beep();
+            cRGB_LED.blue_led();
+            wait(0.02);
+            cRGB_LED.display_power();
             if(TOFRange[3]<200) {   //...and the back sensor detects something
                 //Smooth turn right
                 MotorR.Forwards(0.8f);
                 MotorL.Forwards(0.2f);
-            
+
             } else if(TOFRange[1]<200) { //...and the top left sensor detects something
                 //Smooth turn left
                 MotorR.Forwards(0.2f);
                 MotorL.Forwards(0.8f);
-                
+
             } else {
                 MotorR.Forwards(0.8f);
                 MotorL.Forwards(0.2f);
             }
-            
+
         } else {
 
             if(TOFRange[3]<200) {
                 MotorR.Backwards(0.1f);
                 MotorL.Backwards(0.9f);
-                
+
             } else if(TOFRange[1]<200) {
                 MotorR.Backwards(0.9f);
                 MotorL.Backwards(0.1f);
-                
+
             } else {
                 MotorR.Backwards(0.1f);
                 MotorL.Backwards(0.9f);
             }
         }
-        
+
     } else if(TOFRange[3]<200) {
-       cBuzzer.Beep();
-       cRGB_LED.red_led();
+        cBuzzer.Beep();
+        cRGB_LED.blue_led();
+        wait(0.02);
+        cRGB_LED.display_power();
+
         if(TOFRange[1]<200) {
             MotorR.Forwards(1.0f);
             MotorL.Forwards(1.0f);
         } else {
-            
+
             MotorR.Forwards(0.9f);
             MotorL.Forwards(0.1f);
         }
-        
+
     } else if(TOFRange[1]<200) {
-       cBuzzer.Beep();
-       cRGB_LED.red_led();
+        cBuzzer.Beep();
+        cRGB_LED.blue_led();
+        wait(0.02);
+        cRGB_LED.display_power();
         MotorR.Forwards(0.1f);
         MotorL.Forwards(0.9f);
-        
+
     } else if(TOFRange[0]<200) {
-       cBuzzer.Beep();
-       cRGB_LED.red_led();
+        cBuzzer.Beep();
+        cRGB_LED.blue_led();
+        wait(0.02);
+        cRGB_LED.display_power();
         MotorR.Forwards(1.0f);
         MotorL.Forwards(1.0f);
     }
 
     else {
-       cRGB_LED.green_led();
         MotorR.Forwards(1.0f);
         MotorL.Forwards(1.0f);
     }