Diff: Sources/Robot.cpp

Revision:

13:6c1f8e35b242

Parent:

11:292bdbd85a9c

Child:

15:915f8839fe48

--- a/Sources/Robot.cpp	Wed May 10 13:30:13 2017 +0000
+++ b/Sources/Robot.cpp	Wed May 10 16:53:01 2017 +0000
@@ -222,6 +222,7 @@
 
 
 int Robot::search(int* timer){
+    //return 1;
     enum states {neutral = 0, max, wallF, wallL, wallR, legoF, legoL, legoR };
     
     static int state = neutral;
@@ -237,9 +238,9 @@
             if( counter > MAX ){
                 state = max;
             }
-            /*else if( this->sensors[FWD] < NEAR ){
+            else if( this->sensors[FWD] < NEAR ){
                 state = wallF;
-            }*/
+            }
             else if( this->sensors[LEFT] < NEAR ){
                 state = wallL;
             }
@@ -309,7 +310,7 @@
         
         case legoF:
             //counter++;
-            if( this->sensors[FWD_L] > 0.15f ){
+            if( this->sensors[FWD_L] > 0.17f ){
                 this->drive();
             }
             else{
@@ -322,7 +323,7 @@
         
         case legoL:
             counter++;
-            if( this->sensors[FWD_L] < NEAR_LEGO+0.05f ){
+            if( this->sensors[FWD_L] < NEAR_LEGO + 0.05f ){
                 this->turnLeft();
             }
             else{
@@ -332,7 +333,7 @@
         
         case legoR:
             counter++;
-            if( this->sensors[FWD_L] < NEAR_LEGO+0.05f ){
+            if( this->sensors[FWD_L] < NEAR_LEGO + 0.05f ){
                 this->turnRight();
             }
             else{