Diff: scanner.cpp

Revision:

18:f5c46fb2cd31

Parent:

17:ec04d60f38bd

Child:

19:795968997140

--- a/scanner.cpp	Wed Apr 06 22:05:34 2016 +0000
+++ b/scanner.cpp	Thu Apr 07 21:09:17 2016 +0000
@@ -18,10 +18,10 @@
 //      Constructor.
 Scanner::Scanner(Serial &pc1, StepperDrive &_drive, PinName _servoL, PinName _servoR,
     ShortRangeSensor &_shortRangeL, ShortRangeSensor &_shortRangeR, LongRangeSensor &_longRangeL,
-    LongRangeSensor &_longRangeR, Gripper &_robotGrip, float _period) : pc(pc1), drive(_drive), servoL(_servoL),
+    LongRangeSensor &_longRangeR, Gripper &_robotGrip, float _period, ColorSensor &_colorSensor) : pc(pc1), drive(_drive), servoL(_servoL),
     servoR(_servoR), shortRangeL(_shortRangeL),
     shortRangeR(_shortRangeR), longRangeL(_longRangeL),
-    longRangeR(_longRangeR), robotGrip(_robotGrip), period(_period)
+    longRangeR(_longRangeR), robotGrip(_robotGrip), period(_period), colorSensor(_colorSensor)
 {
     servoL.period(1.0/50.0);
     servoR.period(1.0/50.0);
@@ -234,13 +234,21 @@
         myStack.push(moveRobot);
     }
     
-    // This is the code to enable the gripper to grip the peg. 
+    // This code to enable the gripper to grip the peg. 
     robotGrip.grip();
     
-    /* pseudocode
-    implement the code for reading a value from the color sensor
-    store the value that is returned from the color sensor
-    */       
+    // This code is used to determine the color of the peg 
+    // and the bool value will be used to control the 
+    // navigation of the robot.
+    bool isPegColorRed;
+    
+    int colorValue;
+    colorValue = 
+    
+    if(colorValue > 150)
+        isPegColorRed = true;
+    else
+        isPegColorRed = false;        
     
     // This is the code to enable the gripper to lift the peg.
     robotGrip.lift();