Diff: main.cpp

Revision:

1:c5b58b10970d

Parent:

0:da3669e7df20

Child:

2:f0610c06721d

--- a/main.cpp	Mon Jan 14 22:37:46 2019 +0000
+++ b/main.cpp	Wed Jan 16 17:38:09 2019 +0000
@@ -14,10 +14,9 @@
 #define LEFT 3
 #define RIGHT 4
 
-//For coloiur detection
+//For colour detection
 #define COLOUR_THRESHOLD 150 //Will have to tune this value
 
-//For line following
 
 DigitalOut myled(LED1); // Debug led
 
@@ -72,14 +71,16 @@
     void setSpeed(int pulsewidth_us);
     void setLeftMotorSpeed(int pulsewidth_us);
     void setRightMotorSpeed(int pulsewidth_us);
-    void setLeftMotorMode(int mode);
-    void setRightMotorMode(int mode);
     void stopMotors();
     void goForward();
     void goBackward();
     void turnLeft();
     void turnRight();  
     void changeDirection(int direction);
+    
+    private:
+    void setLeftMotorMode(int mode);
+    void setRightMotorMode(int mode);
 };
 
 void MotorController::initialize()
@@ -341,31 +342,38 @@
 
 int LineFollower::chooseDirection() {
     
-    int sensorData = 0000 & ((lineDetected1 << 02) + (lineDetected2 << 01) + (lineDetected3));
+    int sensorData = 0x00 & ((lineDetected1 << 2) + (lineDetected2 << 1) + (lineDetected3));
+    sensorData = sensorData & 0x07
     
     switch(sensorData) {
         
-        case 0000:
+        //000
+        case 0x0
             direction = STOP;
             break;
         
-        case 0001:
+        //001
+        case 0x1:
             direction = RIGHT;
             break;
         
-        case 0010:
+        //010
+        case 0x2:
             direction = FORWARD;
             break;
         
-        case 0011:
+        //011
+        case 0x3:
             direction = RIGHT;
             break;
         
-        case 0100:
+        //100
+        case 0x4:
             direction = LEFT;
             break;
         
-        case 0101:
+        //101
+        case 0x5:
             if(red_path) {
                 direction = LEFT;
             }
@@ -375,8 +383,14 @@
             }
             
             break;
-        
-        case 0111:
+            
+        //110    
+        case 0x06:
+            direction = RIGHT;
+            break;
+            
+        //111
+        case 0x7:
             direction = FORWARD;
             break;
         
@@ -440,13 +454,13 @@
             paper_detected = false;
         }
             
-        //Drop the disc once the second paper is detected
+        //Drop the disc once the second blue paper is detected
         if(colourSensor.blue_detected && blue_path && !paper_detected && solenoidController.state) {
             paper_detected = true;
             solenoidController.off();
         }
         
-        //Drop the disc once the second paper is detected   
+        //Drop the disc once the second red paper is detected   
         if(colourSensor.red_detected && red_path && !paper_detected && solenoidController.state) {
             paper_detected = true;
             solenoidController.off();