Diff: main.cpp

Revision:

47:9773dc14c834

Parent:

46:df2c2d25c070

Child:

48:597738b77f77

--- a/main.cpp	Sun Jul 28 22:20:12 2019 +0000
+++ b/main.cpp	Wed Jul 31 07:14:09 2019 +0000
@@ -15,7 +15,7 @@
 #include "l3g.h"
 #include "turn_sensor.h"
 
-void doDeadReckoning();
+void __attribute__((noreturn)) doDeadReckoning();
 
 Reckoner reckoner;
 LineTracker lineTracker;
@@ -24,10 +24,13 @@
 
 uint32_t totalEncoderCounts = 0;
 uint32_t nextLogEncoderCount = 0;
-const uint32_t logSpacing = 100;
+const uint32_t logSpacing = 250;
 
 const int16_t drivingSpeed = 400;
 
+const uint32_t timeout = 1*60000;
+
+
 void setLeds(bool v1, bool v2, bool v3, bool v4)
 {
    led1 = v1;
@@ -306,9 +309,14 @@
         
         bool lostLine = lineStatus.getState() == false &&
           lineStatus.getTimeInCurrentStateMicroseconds() > lineDebounceTime;        
-        if(lostLine && timer.read_us() >= 2000000)
+        if (lostLine && timer.read_ms() >= 2000)
         {
-            break;   
+            break;
+        }
+        
+        if (timeout && timer.read_ms() > timeout)
+        {
+            break;
         }
         
         updateMotorsToFollowLine();