Diff: main.cpp

Revision:

12:75d0291a9785

Parent:

11:2960fc540616

Child:

14:2926932e26df

--- a/main.cpp	Mon Apr 30 18:27:23 2018 +0000
+++ b/main.cpp	Wed May 02 14:58:48 2018 +0000
@@ -7,8 +7,8 @@
  
  /* todo:
  
-    - Regler gerade Fahrt
-    - gespeicherten Weg fahren
+    - Beschleunigung: Wann & Wo?
+    - Zentrieren
     
     Optimieren:
     - Beschleunigung
@@ -81,9 +81,9 @@
 }
 
 //Return to last junction
-void reverseToJunction(int junc[], int j, int r, int route[]) {
+void reverseToJunction(int junc, int &r, int route[]) {
     
-        while (junc[j-1] < r ) {
+        do {
             
             //invert rotation
             if (route[r] == LEFT) {
@@ -95,11 +95,11 @@
                 route[r] = LEFT;
             }
             
-            motion.runTask(route[r]);
+            motion.runTask(route,r,true);
             printf("Schritt: %d, Befehl: %d\n", r, route[r]);
             route[r] = 0;
             r--;
-        }    
+        } while (junc < r );   
 }
 
 //------------------------------------------------------------------------------
@@ -107,8 +107,8 @@
 int main() {
 //Init
     
-    volatile int route[200] = {0};
-    volatile int r = 0;
+    int route[200] = {0};
+    int r = 0;
     
     volatile int junction[20] = {0};
     volatile int j = 0;
@@ -119,16 +119,16 @@
     
     short Ziel = 0;
     
-//loop
+    //infinite loop
     while(1) {
     
         button.fall(&press); //User button einlesen
     
-    /** 
-     *    
-     *  Search run
-     *
-     */
+        /** 
+         *    
+         *  Search run
+         *
+         */
    
         while(start == 1 && Ziel == 0) { 
     
@@ -163,7 +163,7 @@
             
                 printf("Kreuzung: %d Schritt: %d\n", j, r);
             }
-        //No wall left
+            //No wall left
             if (lWall == 0) {
             
                 if (route[r] == LEFT) {
@@ -195,7 +195,7 @@
                     //if (j > 0) {j--;}
                     printf("Kreuzung %d Schritt %d geloscht\n", j, r);
                     j -= 1;
-                    //reverseToJunction(junction, j, r, route);
+                    //reverseToJunction(junction[j], r, route);
                 
                     /*for (int i = r; i > junction[j]; i--) {
                         r = i;
@@ -239,13 +239,14 @@
                             route[r] = LEFT;
                         }
                     
-                        motion.runTask(route[r]);
+                        motion.runTask(route,r,true);
                         printf("Schritt: %d, Befehl: %d\n", r, route[r]);                   //At work!!!!!
                         route[r] = 0;
                         r--;
                         
                     } while (junction[j] < r ) ;
                     motion.stop();
+                    printf("Loop stop\n");
 
                 }else{
                     
@@ -325,13 +326,14 @@
                             route[r] = LEFT;
                         }
                     
-                        motion.runTask(route[r]);
+                        motion.runTask(route,r,true);
                         printf("Schritt: %d, Befehl: %d\n", r, route[r]);
                         route[r] = 0;
                         r--;
                         
                     } while (junction[j] < r );
                     motion.stop();
+                    printf("Loop stop\n");
                 
                 }else{
                 
@@ -369,7 +371,7 @@
                     
                         switch (route[r]) {
                             case MOVE: 
-                                motion.runTask(route[r]);
+                                motion.runTask(route,r,true);
                                 printf("Schritt: %d, Befehl: %d\n", r, route[r]);
                                 r--;
                                 break;
@@ -392,7 +394,7 @@
                             route[r] = LEFT;
                         }
                         //Run tasks in declining order
-                        motion.runTask(route[r]);
+                        motion.runTask(route,r,true);
                         printf("Schritt: %d, Befehl: %d\n", r, route[r]);
                         route[r] = 0;
                         r--;
@@ -449,7 +451,7 @@
             float distanceC = irSensorC.readC();
             float distanceR = irSensorR.readR();
         
-            motion.runTask(route[r]);
+            motion.runTask(route,r,false);
             r++;
         
             if (route[r] == 0) {