Diff: main.cpp

Revision:

4:f1670eec4681

Parent:

3:7f44ab64e96b

Child:

5:dfea493f7a12

--- a/main.cpp	Mon Mar 05 22:40:25 2018 +0000
+++ b/main.cpp	Wed Mar 07 19:27:13 2018 +0000
@@ -3,66 +3,101 @@
 
 int main() 
 {
-    //runs code once
-    while (1)
-    {     
-        static bool initialized=false;
-        if (!initialized) 
+    leftMotorVal.period_us(100);
+    rightMotorVal.period_us(100);
+        
+    while(1)
+    {
+     
+        leftMotorVal.write(0.00125*200);
+        rightMotorVal.write(0.00125*200);
+        wait(3);
+        
+        leftMotorVal.write(0.00125*200);
+        rightMotorVal.write(0.00125*200);
+        wait(3);
+        
+    }
+    
+    LEDVal=0;
+    
+    leftMotorVal.write(0.00125*0);
+    rightMotorVal.write(0.00125*0);
+    
+    LEDVal=1;
+    CalibrateFunc(); 
+    
+    LEDVal=0;
+    printf("sensorMinValue1    "); 
+    for (int i=0;i<=7;i++)
+    {
+        if (i==7)
+        {
+            printf("  %d\r\n",sensorMinValue1[i]);
+        }
+        printf("  %d",sensorMinValue1[i]);                  
+    } 
+    
+    printf("sensorMinValue2    "); 
+    for (int i=0;i<=7;i++)
+    {
+        if (i==7)
         {
-            initialized = true;
-            leftMotorVal.period_ms(10);
-            for (int i=1; i <=5; i++)
-            {
-                LEDVal =1;
-                wait(0.5);
-                LEDVal =0;
-                wait(0.5);
-            }
-            leftMotorVal.period_us(1023);
-            rightMotorVal.period_us(1023);                     
-            /*
-            for (int i=0;i<=7;i++)
-            {
-                sensorValue[i]=((sensorPin[i]).read_u16()>>4);
-                sensorMinValue[i]=sensorValue[i];
-                sensorMaxValue[i]=sensorValue[i];
-            } 
-            */
-                   
-        }    
-        /* 
-        int doneYet=0;  
-        while(1)
-        {    
-            for (int i=0;i<=7;i++)
-            {
-                sensorValue[i]=((sensorPin[i]).read_u16()>>4);
-                if (sensorValue[i]>=sensorMaxValue[i])
-                {      
-                    sensorMaxValue[i]=sensorValue[i];      
-                }
-                else if ((sensorValue[i]+25)<=sensorMaxValue[i]) 
-                {
-                    doneYet++;
-                    if (doneYet==8)
-                    {
-                        break;
-                    }
-                }
-                wait_ms(5);
-            }    
+            printf("  %d\r\n",sensorMinValue2[i]);
+        }
+        printf("  %d",sensorMinValue2[i]);                  
+    } 
+    
+    printf("sensorMinValue    ");    
+    for (int i=0;i<=7;i++)
+    {
+        if (i==7)
+        {
+            printf("  %d\r\n",sensorMinValue[i]);
+        }
+        printf("  %d",sensorMinValue[i]);                  
+    } 
+   
+    printf("sensorMaxValue1   ");      
+    for (int i=0;i<=7;i++)
+    {
+        if (i==7)
+        {
+            printf("  %d\r\n",sensorMaxValue1[i]);
         }
-        */
-        for (int i=0;i<=7;i++)
+        printf("  %d",sensorMaxValue1[i]);                  
+    }   
+    
+    printf("sensorMaxValue2   ");      
+    for (int i=0;i<=7;i++)
+    {
+        if (i==7)
         {
-            sensorValue[i]=((sensorPin[i]).read_u16()>>4);            
-        } 
-        CalibrateFunc();          
-        //set baud rate 9600
-        pc.printf("$%d %d %d ;", (sensorValue[0]),(sensorValue[1]),(sensorValue[2]));
-        wait_ms(10);
-    }   
-                
-    //printf("ADC Val 1 : %d\r\n",();
+            printf("  %d\r\n",sensorMaxValue2[i]);
+        }
+        printf("  %d",sensorMaxValue2[i]);                  
+    }  
+    
+    printf("sensorMaxValue   ");      
+    for (int i=0;i<=7;i++)
+    {
+        if (i==7)
+        {
+            printf("  %d\r\n",sensorMaxValue[i]);
+        }
+        printf("  %d",sensorMaxValue[i]);                  
+    }
+    
+    printf("sensorThreshold   ");      
+    for (int i=0;i<=7;i++)
+    {
+        if (i==7)
+        {
+            printf("  %d\r\n",sensorThreshold[i]);
+        }
+        printf("  %d",sensorThreshold[i]);                  
+    }
+    
+    LEDVal=1;
     return 0;
 }
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