Activities

Diff: DumpTruck.cpp

Revision:

11:87f30625b213

Parent:

10:cf77da9be0b8

Child:

12:502cf4fc6d98

--- a/DumpTruck.cpp	Tue Feb 28 21:11:48 2017 +0000
+++ b/DumpTruck.cpp	Tue Mar 14 20:10:27 2017 +0000
@@ -2,15 +2,15 @@
 
 DumpTruck::DumpTruck(int truckId) : truckNumber(truckId) {
     truckNumber = truckId;
-    track = new Tracker(p29, p30, p15);
+        //track = new Tracker(p29, p30, p15);
     // PWM: 21, 22, 23
     // DIR: 27, 28, 29
-    frontMotor = new Motor(p21, p27);
-    turnMotor = new Motor(p22, p28);
-    bedMotor = new Motor(p23, p29);
+    frontMotor = new Motor(p23, p28);
+        //turnMotor = new Motor(p22, p29);
+        //bedMotor = new Motor(p23, p28);
     //bed = new IMU(@@@@@@@);
     //nrf = new Transceiver(@@@@@@);
-    srf = new SRF05(p15, p16);
+    srf = new SRF05(p15, p16); //trigger, echo.
     tooClose = false;
 }
 
@@ -31,12 +31,12 @@
 }
 
 void DumpTruck::stop() {
-    frontMotor->write(0.0f);
+    frontMotor->write(0);
 }
 
 bool DumpTruck::detect() {
     proximity = srf->read();
-    if(proximity < 100) {       //cm
+    if(proximity < 20) {       //cm
         tooClose = true;
     } else {
         tooClose = false;