Diff: main.cpp

Revision:

23:d1dc248b4e54

Parent:

20:074a3638c702

Child:

24:4d6ff25fb9cc

--- a/main.cpp	Tue Dec 10 10:23:54 2019 +0000
+++ b/main.cpp	Mon Jan 06 14:55:03 2020 +0000
@@ -138,7 +138,9 @@
         
         A.speed(-speed);
         B.speed(speed);
-        while(abs(current_pulse_reading) <= 8688)
+        wheel_B.reset();
+        wheel_A.reset();
+        while(abs(current_pulse_reading) <= 2782)
         {
             current_pulse_reading = wheel_A.getPulses();
         }
@@ -154,95 +156,22 @@
 {
     wait(5);// required for audacity to play music
     
-    for (int i =0; i<5; i++)
+    for (int i =0; i<10; i++)
     {
-        int distance  = (rand()%16000+2000);
+        int distance  = (rand()%7000+2000);
         float A_speed = (rand()%2-1);
         float B_speed = (rand()%2-1);
-        if((A_speed < 0.4) and (A_speed > -0.4)){
+/*        if((A_speed < 0.4) && (A_speed > -0.4)){
             A_speed = 0.4;
             }
-        if((B_speed < 0.4) and (B_speed > -0.4)){
-            B_speed = -0.4;
-            }
+        if((B_speed < 0.4) && (B_speed > -0.4)){
+            B_speed = 0.4;
+            } */
         move(A_speed,B_speed,distance);
         wheel_B.reset();
         wheel_A.reset();
     }    
-}
-
-/*    float current_pulse_reading = 0;
-    while(abs(current_pulse_reading) <= 5388)
-    {
-    current_pulse_reading = wheel_A.getPulses();
-    A.speed(-speed);
-    B.speed(0.0);
-    }
-    wait(0.05);
-    current_pulse_reading = 0;
-    wheel_B.reset();
-    wheel_A.reset();
-    while(abs(current_pulse_reading) <= 5388)
-    {
-    current_pulse_reading = wheel_A.getPulses();
-    A.speed(speed);
-    B.speed(0);
-    }
-    wait(0.05);
-    wheel_B.reset();
-    wheel_A.reset();
-    current_pulse_reading = 0;
-    while(abs(current_pulse_reading) <= 5388)
-    {
-    current_pulse_reading = wheel_B.getPulses();
-    A.speed(0);
-    B.speed(-speed);
-    }
-    wait(0.05);
-    wheel_B.reset();
-    wheel_A.reset();
-    current_pulse_reading = 0;
-    while(abs(current_pulse_reading) <=5388)
-    {
-    current_pulse_reading = wheel_B.getPulses();
-    A.speed(0);
-    B.speed(speed);
-    }
-    wait(0.05);
-    wheel_B.reset();
-    wheel_A.reset();
-    current_pulse_reading = 0;
-    while(abs(current_pulse_reading) <21504)
-    {
-    current_pulse_reading = wheel_A.getPulses();
-    A.speed(-speed);
-    B.speed(speed);
-    }
-    wait(0.05);
-    wheel_B.reset();
-    wheel_A.reset();
-    current_pulse_reading = 0;
-    while(abs(current_pulse_reading) <6000)
-    {
-    current_pulse_reading = wheel_A.getPulses();
-    A.speed(-speed);
-    B.speed(-speed);
-    }
-    wait(0.05);
-    wheel_B.reset();
-    wheel_A.reset();
-    current_pulse_reading = 0;
-    while(abs(current_pulse_reading) <6000)
-    {
-    current_pulse_reading = wheel_A.getPulses();
-    A.speed(speed);
-    B.speed(speed);
-    }
-    wait(0.05);
-    A.speed(0);
-    B.speed(0);
-    */
-    
+}  
 
 // Function to set robot direction and distance according to data published on motor_control topic
 void control_motor(void) {