Route Fix
Dependencies: mbed Motor LSM9DS1_Library_cal PinDetect HC_SR04_Ultrasonic_Library
Diff: main.cpp
- Revision:
- 5:85951362fd6d
- Parent:
- 4:6546c17ac0a6
- Child:
- 6:d25157f50f14
diff -r 6546c17ac0a6 -r 85951362fd6d main.cpp --- a/main.cpp Wed Nov 21 19:33:33 2018 +0000 +++ b/main.cpp Wed Nov 21 19:43:30 2018 +0000 @@ -68,7 +68,7 @@ // Turn left 90 degrees: void turnLeft(float currt){ stop(); - while ((t.read()-currt) < 2) { + while ((t.read()-currt) < 1.4) { Lfront.speed(-1); Lback.speed(-1); Rfront.speed(1); @@ -81,7 +81,7 @@ // Turn right 90 degrees: void turnRight(float currt){ stop(); - while ((t.read()-currt) < 2) { + while ((t.read()-currt) < 1.4) { Lfront.speed(1); Lback.speed(1); Rfront.speed(-1); @@ -99,16 +99,16 @@ { if (distance < 150) { // PUT CODE HERE TO TRIGGER WHEN DISTANCE READS LESS THAN 15cm - // 1) Turn 90 degrees (hardcoded => 2 seconds). - // 2) Go forward 2 seconds. - // 3) Turn 90 degrees (hardcoded => 2 seconds). + // 1) Turn 90 degrees (hardcoded => 1.4 seconds). + // 2) Go forward 1.5 seconds. + // 3) Turn 90 degrees (hardcoded => 1.4 seconds). // 4) Continue forward until wall. // [Step 1] float currt = t.read(); if (tr) {mctrl.turnRight(currt);} else {mctrl.turnLeft(currt);} // [Step 2] currt = t.read(); - while ((t.read()-currt) < 2) {mctrl.fwd();} + while ((t.read()-currt) < 1.5) {mctrl.fwd();} // [Step 3] currt = t.read(); if (tr) {mctrl.turnRight(currt);} else {mctrl.turnLeft(currt);}