Diff: main.cpp

Revision:

6:4868f789c223

Parent:

5:e2c0a4388d85

Child:

7:22392ed60534

--- a/main.cpp	Mon Apr 23 17:59:13 2018 +0000
+++ b/main.cpp	Tue Apr 24 15:35:24 2018 +0000
@@ -108,10 +108,10 @@
 int main() {
 //Init
     
-    int route[50] = {0};
+    int route[200] = {0};
     int r = 0;
     
-    int junction[10] = {0};
+    int junction[20] = {0};
     int j = 0;
     
     short lWall;
@@ -213,12 +213,12 @@
                 route[r] = RIGHT;
                 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
                 r++;
-                route[r] = MOVE;
+                /*route[r] = MOVE;
                 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
-                r++;
+                r++;*/
             
                 motion.scanMove();
-                stop();
+                motion.stop();
                 
             }else if (route[r] == MOVE) {
                 
@@ -260,9 +260,19 @@
             while (junction[j] <= r ) {
                 
                 if (junction[j] == r && (route[r] == LEFT || route[r] == RIGHT)) {
-                        
-                    //route[r] = 0;
-                    r--;
+                    
+                    switch (route[r]) {
+                        case MOVE: 
+                            motion.runTask(route[r]);
+                            printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+                            r--;
+                        case LEFT:
+                            r--;
+                            break;
+                        case RIGHT:
+                            r--;
+                            break;
+                    }
                 
                 }else{
                 //invert rotation
@@ -273,12 +283,12 @@
                     }else if (route[r] == RIGHT) {
                         
                         route[r] = LEFT;
-                }
-                //Run tasks in declining order
-                motion.runTask(route[r]);
-                printf("Schritt: %d, Befehl: %d\n", r, route[r]);
-                route[r] = 0;
-                r--;
+                    }
+                    //Run tasks in declining order
+                    motion.runTask(route[r]);
+                    printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+                    route[r] = 0;
+                    r--;
                 }
             }
             r++;