Diff: Sources/main.cpp

Revision:

1:388c915756f5

Parent:

0:d267b248eff4

Child:

2:01e9de508316

--- a/Sources/main.cpp	Sat Mar 11 10:14:00 2017 +0000
+++ b/Sources/main.cpp	Sun Mar 19 12:20:26 2017 +0000
@@ -3,22 +3,6 @@
 
 #include <cstdlib>
 
-#define NEAR 0.1f   //Used for distance Sensors. If they're to near to a wall -> turn
-#define LEFT        //Arrayindex of the left Sensor
-#define FWD         //Arrayindex of the forward Sensor
-#define RIGHT       //Arrayindex of the right Sensor
-
-
-//Robot related:
-PwmOut          left(PA_8);
-PwmOut          right(PA_3);
-
-DigitalOut      powerSignal(PB_2);
-DigitalIn       errorSignal(PB_14);
-DigitalIn       overtemperatur(PB_15);
-
-Robot bot( &left, &right, &powerSignal );
-
 //DistanceSensors related:
 Serial pc(SERIAL_TX, SERIAL_RX);
 
@@ -27,79 +11,40 @@
 DigitalOut bit0(PH_1);
 DigitalOut bit1(PC_2);
 DigitalOut bit2(PC_3);
-//Robot::DistanceSensors sensors[6];
+
+//Leds related:
+DigitalOut leds[6] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
 
-//LED related:
-DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
+//motor related:
+PwmOut          left(PA_8);
+PwmOut          right(PA_9);
 
-void initialiseDistanceSensors(){
+DigitalOut      powerSignal(PB_2);
+DigitalIn       errorSignal(PB_14);
+DigitalIn       overtemperatur(PB_15);
+
+//Farbsensor:
+AnalogIn FarbVoltage(A0);
+
+Robot sam( &left, &right, &powerSignal, leds, &FarbVoltage ); //Implement the Farbsensor into the Robot init function!!
+
+void initializeDistanceSensors(){
     for( int ii = 0; ii<6; ++ii) {
-        bot.sensors[ii].init(&sensorVoltage, &bit0, &bit1, &bit2, ii);
+        sam.sensors[ii].init(&sensorVoltage, &bit0, &bit1, &bit2, ii);
 
-        enable = 1;
+    enable = 1;
     }
 }
 
-void fahralgorithmus(){
+/* */
+int main(){
     
-    int rando = 0; //Will be used for rdandom actions.
-
-    while( 1 ) {    //Remember to change the indices. Also make into a seperate function
-
-        if ( bot.sensors[0] < NEAR ) { //Left Sensor
-            while ( bot.sensors[0] < NEAR ) {
-                bot.turnRight();
-            }
-        }
-
-        else if ( bot.sensors[1] < NEAR ) { //Front Sensor
-            rando = rand() % 2;
-            while ( bot.sensors[1] < NEAR ) {
-                bot.turnAround(rando);
-            }
-        }
-
-        else if ( bot.sensors[2] < NEAR ) { //Right Sensor
-            while ( bot.sensors[2] < NEAR ) {
-                bot.turnLeft();
-            }
-        }
-
-        else {
-            bot.drive();
-        }
-
-    }
-}
-
-/* * /
-
-
-int main(){
+    initializeDistanceSensors();
+    int counter = 0;        //counts how many times the robot has turned, before driving
+        
     while( 1 ){
-        bot.drive();
+        sam.search(&counter);
+        wait( 0.1f );
     }
     return 0;
-}
-/* */
-
-
-/* */
-int main()
-{
-    initialiseDistanceSensors();
-    
-    while( 1 ){
-        for(int i=0; i<6; i++){
-            if(bot.sensors[i] > 0.05f){
-                leds[i] = 1;
-            }
-            else{
-                leds[i] = 0;
-            }
-        }
-    }
-    
-    return 0;
-}
-/*  */
\ No newline at end of file
+}
\ No newline at end of file