File content as of revision 24:249505c7c080:

#include "drivecontrol.h"
#include "io_modules.h"
#include "mbed.h"
//// PIN ASSIGNMENTS
AnalogIn battery(PA_3);
DigitalOut led_1(PB_12);
DigitalOut led_2(PB_13);
DigitalOut led_3(PB_14);
DigitalOut led_4(PB_15);
Serial serial (PA_9, PA_10);
// CONTROL CONSTANTS
const int STRAIGHT = 0, LEFT = 1, RIGHT = 2, UTURN = 3;
const int START_POS = 0, END_POS = 0;
const int CONTROL = 1;

void check_battery () {
    // pc.baud(9600);
    // using the serial functions will have an impact on timing.
    // serial.printf("voltage value is: %3.3f%%\r\n", battery.read()*100.0f);
    // serial.printf("normalized: 0x%04X \r\n", battery.read_u16());
    if (battery.read() < 0.70f){
        // flash led
        led_1 = 1;
        led_2 = 1;
        led_3 = 1;
        led_4 = 1;
    }
}

void flash_led (int _led_1, int _led_2, int _led_3, int _led_4) {
    led_1 = _led_1;
    led_2 = _led_2;
    led_3 = _led_3;
    led_4 = _led_4;
}

int main() {
    DriveControl * driver = new DriveControl (START_POS, END_POS);
    driver->resetEncoders();
    int state, count = 0;
    bool finished_traverse_one_cell = true;
    //wait(1.5);
    while(CONTROL) {
        check_battery();
        wait_ms(1);

        //wait(2);
        //driver->print_serial_ports();
        
        
    
        
       if (finished_traverse_one_cell == true) {
            
            /*if (!driver->has_right_wall() && !driver->has_left_wall()) {
                wait(1);
                if ((rand() % 4) == 0) {
                    state = LEFT;
                    driver->resetEncoders();
                }
                else {
                    state = RIGHT;
                    driver->resetEncoders();
                }
                    
            }
            else */if (!driver->has_right_wall()) {
                wait(0.25);
                state = RIGHT;  
                driver->resetEncoders();
            }
            else if (!driver->has_left_wall()) {
                wait(0.25);
                state = LEFT;  
                driver->resetEncoders();
            }
            else if(!driver->has_front_wall()){
                state = STRAIGHT;
                driver->resetEncoders();
            }
            else{
                wait(0.25);
                state = UTURN;
                driver->resetEncoders();
                count = 0;
            }
            finished_traverse_one_cell = false;
        }
        
        if (state == STRAIGHT) {
            if (!driver->should_finish_drive_forward() && !driver-> has_front_wall()) {
                driver->drive_forward();
                flash_led(1, 0, 0, 0);
            }
            else {
                driver->clear_pid();
                driver->stop();
                driver->resetEncoders();
                flash_led (0, 0, 0, 0);
                finished_traverse_one_cell = true;
                continue;
            }
        }
        if (state == RIGHT) {
            if (!driver->should_finish_turn_right()) {
                driver->turn_right();
                flash_led (0, 1, 0, 0);
            }
            else {
                driver->stop();
                flash_led (0, 0, 0, 0);
                //finished_traverse_one_cell = true;
                state = STRAIGHT;
                driver->resetEncoders();
                driver->clear_pid();
               // wait(0.25);
                continue;
            }
        }
        if (state == LEFT) {
            if (!driver->should_finish_turn_left()) {
                driver->turn_left();
                flash_led (0, 0, 1, 0);
            }
            else {
                driver->stop();
                flash_led (0, 0, 0, 0);
                //finished_traverse_one_cell = true;
                state = STRAIGHT;
                driver->resetEncoders();
                driver->clear_pid();
                //wait(0.25);
                continue;
            }
        }
        
        if (state == UTURN){
            if (!driver->should_finish_turn_left()) {
                driver->turn_left();
                flash_led (0, 1, 1, 0);
            }
            else {
                driver->stop();
                driver->resetEncoders();
                //wait(0.25);
                flash_led (0, 0, 0, 0);
                count == 1 ? finished_traverse_one_cell = true: count++;
                continue;
            }
        }
    }
}


/*

    if (!driver->has_front_wall()) {
            if (!driver->should_finish_drive_forward()) {
                driver->drive_forward();
                flash_led(0, 1, 1, 0);
            }
            else {
                driver->stop();
                wait(1);
                flash_led (0,0,0,0);
                driver->resetEncoders();
                finished_traverse_one_cell = true;
                continue;
            }
        }
        else {
            driver->stop();
            driver->resetEncoders();
            flash_led (1, 1, 1, 0);
        }




*/