Revision 2:7811df5a6052, committed 2016-11-15

Comitter:

Josahty

Date:

Tue Nov 15 20:04:54 2016 +0000

Parent:

1:90b640c90506

Child:

3:cd6e2d7c7c9c

Commit message:

corrected drive function

Changed in this revision

--- a/DumpTruck.cpp	Tue Nov 01 20:19:20 2016 +0000
+++ b/DumpTruck.cpp	Tue Nov 15 20:04:54 2016 +0000
@@ -9,7 +9,7 @@
 
 PwmOut DrivePin(p24);
 DigitalOut DirPin(p30);
-int i;
+int travelled;
 
 
 void Calibrate(){}
@@ -31,7 +31,7 @@
     } // else, go backwards at specified speed  
     else {
     DirPin = 0;
-    DrivePin = -1 * speed;
+    DrivePin = -1*speed;
     }
     }
     // stop motors
@@ -39,7 +39,7 @@
     // calibrate motors
     Calibrate();
     //
-    i = 0;
+    travelled = 0;
 }
 
 //float DumpTruck::setTruckDistance(){
@@ -52,24 +52,41 @@
 //    }
 //
 float DumpTruck::setTruckSpeed(){
-    
+      float mod = 0;
       float div = 10;
+      pc.printf("Enter a direction - 1 = forward, 0 = backward:\r\n");
+      float dir = pc.getc();
+      while ((dir<48)||(dir>49)){
+          pc.printf("Invalid input. Please enter a valid direction, 1 or 0: \r\n");
+          dir = pc.getc();
+          }
+      if (dir == 48) {
+          mod = -1; }
+          else {
+          mod = 1; }    
+          
       // terminal prompt for speed
-      pc.printf("Please enter the truck speed: \n");
+      pc.printf("Please enter a truck speed from 0-9 or F for full speed:\r\n");
       // sets return value to given value
       float input = pc.getc();
       while ((input<48)||(input>57)){
-          pc.printf("Fix your input sir: \r\n");
+          if((input == 70) || (input == 102)) {
+              input = 1;
+              input = input * mod;
+              return input;
+        }
+          pc.printf("Invalid input. Please enter a valid speed from 0-9 or F: \r\n");
           input = pc.getc();
           }
       input = input - 48;
       input = input * (1/div);
       // returns value
+      input = input * mod;
       return input;}
     
     
 void DumpTruck::stop(){
-    pc.printf("Truck will now stop.");
+    pc.printf("Truck will now stop.\r\n");
     //stop motors
     DrivePin = 0;
     }