Diff: main.cpp

Revision:

21:bef848ac1894

Parent:

20:823f05f5ffd5

--- a/main.cpp	Tue Mar 24 15:55:31 2015 +0000
+++ b/main.cpp	Wed Mar 25 11:24:16 2015 +0000
@@ -39,7 +39,7 @@
 int r_turn_f = 0;
 int l_180_f = 0;
 int r_180_f = 0;
-int forwards = 0;
+int forward = 0;
 int backwards = 0;
 int spin = 0;
 //Junction Counter (hard coding deccsions on junctions)
@@ -106,21 +106,21 @@
         if( l_180_f  ) {
             set_direction(0x11, 0.2, 0.6); //Needs to test
             spin =1; //new state is spin
-            forwards = 0;
+            forward = 0;
             //start_timer?
 
         } else if (l_turn_f) { //
             set_direction(0x01, 0.3,0.3); //CHANGE DUTIES AFTER TESTING
             spin =1 ; //reached the end, nothign else matters
-            forwards =0;
+            forward =0;
         }
     } else if(val_l == 7) {
         l_turn_f =1;
-        if(!forwards) {
-            forwards =1;
+        if(!forward) {
+            forward =1;
             set_direction(0x11, 0.3,0.3);
-        } else if(!forwards) {
-            forwards =1;
+        } else if(!forward) {
+            forward =1;
 
             set_direction(0x11, 0.3,0.3);
         }
@@ -142,7 +142,7 @@
                 if (l_turn_f) { //special case ****************************** WON'T HAPPEN**********************
                     blue.printf("Double Turn?");
                     set_direction(0x01, 0.3,0.3);
-                    forwards =0;
+                    forward =0;
                     spin =1;
                 } else if(l_180_f) {
                     blue.printf("You've got a junction\n");
@@ -168,15 +168,14 @@
                         forward = 0;
                 }
             } else if(r_turn_f) {
-                set_direction(0x10, 0.3 0.3);
+                set_direction(0x10, 0.3 ,0.3);
                 forward = 0;
                 spin = 1;
-            } else if {r_180_f) {
+            } else if (r_180_f) {
                 set_direction(0x11, 0.6, 0.2);
                 forward = 0;
                 spin =1;
-            }
-            else {
+            } else {
                 r_180_f =1;
             }
             break;
@@ -226,19 +225,19 @@
         default:
             //blue.printf("%i\n", val);
             set_direction(0x00, 0,0);
-        }
     }
 }
 
+
 /*
        //This needed to be completely changed. We need sequential actions, a case statement is too basic (unforetuneately)
        led= 0;
        switch(val_r) {
            case 4: //Normal mode
-               if (!forwards) {
+               if (!forward) {
                    blue.printf("i've got %i on the right\n", val_r);
                    set_direction(0x11, 0.3,0.3);
-                   forwards =1;
+                   forward =1;
                    change =1;
                    break;
                }
@@ -246,7 +245,7 @@
                blue.printf("i've got %i on the right\n", val_r);
 
                set_direction(0x11, 0.3, 0.2);
-               forwards =0;
+               forward =0;
                break;
                change =1;
 
@@ -254,16 +253,16 @@
                blue.printf("i've got %i on the right\n", val_r);
 
                set_direction(0x11, 0.2, 0.3);
-               forwards =0;
+               forward =0;
                change =1;
 
                break;
            default:
-               if (!forwards) {
+               if (!forward) {
                    blue.printf("i've got %i on the right\n", val_r);
 
                    set_direction(0x11, 0.3,0.3);
-                   forwards =1;
+                   forward =1;
                    break;
                }
 
@@ -271,35 +270,35 @@
        if(!change) {
            switch(val_l) {
                case 2:
-                   if (!forwards) {
+                   if (!forward) {
                        blue.printf("i've got %i on the left\n", val_l);
 
                        set_direction(0x11, 0.3,0.3);
-                       forwards =1;
+                       forward =1;
                        break;
                    }
                case 3:
                    blue.printf("i've got %i on the left\n", val_l);
 
                    set_direction(0x11, 0.3, 0.2);
-                   forwards =0;
+                   forward =0;
                    break;
                case 1:
                    blue.printf("i've got %i on the left\n", val_l);
 
                    set_direction(0x11, 0.3, 0.2);
-                   forwards =0;
+                   forward =0;
                    break;
 
 
 
                default:
                    blue.printf("i've got %i on the left\n", val_l);
-                   if (!forwards) {
+                   if (!forward) {
                        // blue.printf("i've got %i on the left\n", val_l);
 
                        set_direction(0x11, 0.3,0.3);
-                       forwards =1;
+                       forward =1;
                        break;
                    }
            }