zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_Yanick

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Dependencies:   mbed

Diff: Sources/main.cpp

Revision:
2:01e9de508316
Parent:
1:388c915756f5
--- a/Sources/main.cpp	Sun Mar 19 12:20:26 2017 +0000
+++ b/Sources/main.cpp	Tue Mar 21 13:12:54 2017 +0000
@@ -38,12 +38,18 @@
 
 /* */
 int main(){
+    Timer t;
+    t.start();
     
     initializeDistanceSensors();
-    int counter = 0;        //counts how many times the robot has turned, before driving
+    int counter = 0;                //counts how many times the robot has turned, before driving
         
     while( 1 ){
-        sam.search(&counter);
+        if ( t.read() > TIMEOUT ){
+            NVIC_SystemReset();     //Resets Sam.
+        }
+            
+        sam.search(&counter, &t);
         wait( 0.1f );
     }
     return 0;