Diff: Sources/Robot.cpp

Revision:

2:01e9de508316

Parent:

1:388c915756f5

Child:

3:fa61be4ecaa6

--- a/Sources/Robot.cpp	Sun Mar 19 12:20:26 2017 +0000
+++ b/Sources/Robot.cpp	Tue Mar 21 13:12:54 2017 +0000
@@ -62,21 +62,33 @@
     *right= 0.5f;
 }
 
-void Robot::search(int* counter){
+void Robot::search(int* counter, Timer* t){
     int rando;
     
     if (*counter >= 5) {
+        t->reset();
+        
         rando = rand() % 2;
         while (this->sensors[FWD] < NEAR){
+            if ( t->read() > TIMEOUT ){
+                break;
+            }
+            
             this->leds[FWD] = 1;
             this->turnAround(rando);
         }
-     this->leds[FWD] = 0;   
+        this->leds[FWD] = 0;   
     }
     
     else if (this->sensors[RIGHT] < NEAR){
+        t-> reset();
+        
         *counter += 1;
         while (this->sensors[RIGHT] < NEAR){
+            if ( t->read() > TIMEOUT ){
+                break;
+            }
+            
             this->turnLeft();
             this->leds[RIGHT] = 1;
         }
@@ -84,8 +96,14 @@
     }
     
     else if (this->sensors[LEFT] < NEAR){
+        t-> reset();
+        
         *counter += 1;
         while (this->sensors[LEFT] < NEAR){
+            if ( t->read() > TIMEOUT ){
+                break;
+            }
+            
             this->turnRight();
             this->leds[LEFT] = 1;
         }
@@ -93,8 +111,14 @@
     }
     
     else if (this->sensors[FWD] < NEAR) {
+        t-> reset();
+        
         rando = rand() % 2;
         while (this->sensors[FWD] < NEAR){
+            if ( t->read() > TIMEOUT ){
+                break;
+            }
+            
             this->leds[FWD] = 1;
             this->turnAround(rando);
         }