UoD_ME40005_firefighting / Mbed 2 deprecated Ultrasonic_And_Motors

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Dependencies:   SRF02 Servo mbed

Files at this revision

API Documentation at this revision

Revision 3:732faa546abb, committed 2017-04-25

Comitter:
mspeed93
Date:
Tue Apr 25 12:18:31 2017 +0000
Parent:
2:9179421b2288
Commit message:
another format update

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Apr 25 12:15:22 2017 +0000
+++ b/main.cpp	Tue Apr 25 12:18:31 2017 +0000
@@ -168,17 +168,17 @@
 
     while(1) {
 
-        int Ldistance = Lsensor.getDistanceCm();    //reads the distance value the ultrasonic sensors detect
-        int Rdistance = Rsensor.getDistanceCm();    // for front, left, and right sensors
+        int Ldistance = Lsensor.getDistanceCm();    /reads the distance value the ultrasonic sensors detect
+        int Rdistance = Rsensor.getDistanceCm();   // for front, left, and right sensors
         int Fdistance = Fsensor.getDistanceCm();
 
 
-        if ((RFlame == 0) || (LFlame == 0)) {        //conditional statement: if one or the other flame sensors detect
+        if ((RFlame == 0) || (LFlame == 0)) {       //conditional statement: if one or the other flame sensors detect
             Extinguish();
-        }                                //fire then the extinguish function is called
+        }                                          //fire then the extinguish function is called
 
-        if  (Fdistance > 22) {                       //using the distance value in front forward drive or turning functions
-            //are determined
+        if  (Fdistance > 22) {            //using the distance value in front forward drive or turning functions
+                                          //are determined
             Forward_Drive();
             pos_val = pos_val + step_size;
 
@@ -187,8 +187,8 @@
             wait(0.5);
         }
 
-        else if (Fdistance <= 22) {                                    //activates turning function if front distance drops
-            //beneath 22cm
+        else if (Fdistance <= 22) {       //activates turning function if front distance drops
+                                          //beneath 22cm
             Turning();
             pos_val = pos_val + step_size;
             if (pos_val > 1.0) pos_val = 0.0;
@@ -196,8 +196,8 @@
             wait(0.5);
         }
 
-        if ((Ldistance <= 20) && (Fdistance >= 22)) {                 //measures the distance to the side of the robot and the front
-            Turn_right();                                          //and turns away as appropriate using the slower turning functions
+        if ((Ldistance <= 20) && (Fdistance >= 22)) { //measures the distance to the side of the robot and the front
+            Turn_right();                             //and turns away as appropriate using the slower turning functions
 
             pos_val = pos_val + step_size;
             if (pos_val > 1.0) pos_val = 0.0;
@@ -205,8 +205,8 @@
             wait(0.5);
         }
 
-        else if ((Rdistance <= 20) && (Fdistance >= 22)) {             //measures the distance to the side of the robot and the front
-            Turn_left();                                           //and turns away as appropriate using the slower turning functions
+        else if ((Rdistance <= 20) && (Fdistance >= 22)) { //measures the distance to the side of the robot and the front
+            Turn_left();                                   //and turns away as appropriate using the slower turning functions
 
             if (pos_val > 1.0) pos_val = 0.0;