Diff: main.cpp

Revision:

18:3309329d5f42

Parent:

17:8a8758bfe3c5

Child:

19:6cd6cc5c8b4c

--- a/main.cpp	Mon May 07 18:28:34 2018 +0000
+++ b/main.cpp	Mon May 07 19:52:54 2018 +0000
@@ -97,7 +97,7 @@
                 route[r] = LEFT;
             }
             
-            motion.runTask(route,r,true);
+            //motion.runTask(route,r,true);
             printf("Schritt: %d, Befehl: %d\n", r, route[r]);
             route[r] = 0;
             r--;
@@ -112,8 +112,8 @@
     int route[200] = {0};
     int r = 0;
     
-    volatile int junction[20] = {0};
-    volatile int j = 0;
+    int junction[20] = {0};
+    int j = 0;
     
     short lWall;
     short cWall;
@@ -241,7 +241,7 @@
                             route[r] = LEFT;
                         }
                     
-                        motion.runTask(route,r,true);
+                        motion.runTask(route,r,true,junction[j]);
                         printf("Schritt: %d, Befehl: %d\n", r, route[r]);                   //At work!!!!!
                         route[r] = 0;
                         r--;
@@ -328,7 +328,7 @@
                             route[r] = LEFT;
                         }
                     
-                        motion.runTask(route,r,true);
+                        motion.runTask(route,r,true,junction[j]);
                         printf("Schritt: %d, Befehl: %d\n", r, route[r]);
                         route[r] = 0;
                         r--;
@@ -377,7 +377,7 @@
                     
                         switch (route[r]) {
                             case MOVE: 
-                                motion.runTask(route,r,true);
+                                motion.runTask(route,r,true, junction[j]);
                                 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
                                 r--;
                                 break;
@@ -405,7 +405,7 @@
                             route[r] = LEFT;
                         }
                         //Run tasks in declining order
-                        motion.runTask(route,r,true);
+                        motion.runTask(route,r,true, junction[j]);
                         printf("Schritt: %d, Befehl: %d\n", r, route[r]);
                         route[r] = 0;
                         r--;
@@ -462,7 +462,7 @@
             float distanceC = irSensorC.readC();
             float distanceR = irSensorR.readR();
         
-            motion.runTask(route,r,false);
+            motion.runTask(route,r,false,junction[j]);
             r++;
         
             if (route[r] == 0) {