Diff: main.cpp

Revision:

3:768cca7d53fe

Parent:

2:a6db66722be0

Child:

4:1961b60aa8fb

--- a/main.cpp	Thu Jun 09 09:37:00 2016 +0000
+++ b/main.cpp	Thu Jun 09 10:22:08 2016 +0000
@@ -30,7 +30,11 @@
 {
     while (1) 
     {
-        if (tsi.readDistance() != 0) 
+         
+        float accX=acc.getAccX();                           //Measure acceleration in X direction
+        float accY=acc.getAccY();                           //Measure acceleration in Y direction
+
+         if (tsi.readDistance() != 0) 
         {
 //          gled = 1.0 - tsi.readPercentage();          
             if (tsi.readDistance() <= 13)
@@ -50,11 +54,12 @@
             wait(0.2);
 
 
-        }//endif touch sensor
-/*
+        }//endif touch sensor 
+
+
         if((accX <= 0.1f) && (accX >= -0.1f)) 
         {
-            if (right == true) 
+            if (right == false) 
             {
                 righthigh = 1;
                 rightlow = 0;
@@ -65,7 +70,7 @@
                 leftlow = 0;
             }//endelse
         }//endif
-
+        
         if (accX > 0.1) 
         {
             lefthigh = 0;
@@ -76,7 +81,8 @@
             forwardlow = 0;
             backwardhigh = 0;
             backwardlow = 0;
-            right = true;
+            right = false;
+            printf("left \r\n");
         }//endif
 
         if (accX < -0.1) 
@@ -89,13 +95,14 @@
             forwardlow = 0;
             backwardhigh = 0;
             backwardlow = 0;
-            right = false;
+            right = true;
+            printf("right \r\n");
         }//endif
-        wait(0.1);
+        wait(0.1);    
 
-        if((acc.getAccY() <= 0.1) && (acc.getAccY() >= -0.1)) 
+        if((accY <= 0.1) && (accY >= -0.1)) 
         {
-            if (forward == true) 
+            if (forward == false) 
             {
                 forwardhigh = 1;
                 forwardlow = 0;
@@ -107,7 +114,7 @@
             }//endelse
         }//endif
 
-        if (acc.getAccY() > 0.1) 
+        if (accY > 0.1) 
         {
             lefthigh = 0;
             leftlow = 0;
@@ -117,10 +124,11 @@
             forwardlow = 0;
             backwardhigh = 0;
             backwardlow = 0;
-            forward = true;
+            forward = false;
+            printf("back \r\n");
         }//endif
 
-        if (acc.getAccY() < -0.1) 
+        if (accY < -0.1) 
         {
             lefthigh = 0;
             leftlow = 0;
@@ -130,8 +138,18 @@
             forwardlow = 0;
             backwardhigh = 1;
             backwardlow = 0;
-            forward = false;
+            forward = true;            
+            printf("for \r\n");
         }//endif
-        wait(0.1);*/
+        
+        wait(0.1);
+        
+        /*if(abs(accY) > abs(accX))
+        {
+            if(forward == e)
+            {
+                
+            }
+        }*/
     }//endwhile
 }//endmain