Diff: main.cpp

Revision:

2:f3f0843285e2

Parent:

1:5ddd3faed06d

Child:

3:7f077cf1d755

--- a/main.cpp	Mon Nov 01 23:21:14 2010 +0000
+++ b/main.cpp	Tue Nov 02 16:58:25 2010 +0000
@@ -2,50 +2,49 @@
 #include "m3pi.h"
 
 BusOut leds(LED1,LED2,LED3,LED4);
-m3pi pi (p27,p9,p10); //nRST, TX, RX
+m3pi m3pi (p27,p9,p10); //nRST, TX, RX
 
 int main() {
 
-    pi.locate(0,1);
-    pi.printf("Line Flw");
+    m3pi.locate(0,1);
+    m3pi.printf("Line Flw");
 
     float position_of_line = 0.0;
-
-    pi.sensor_auto_calibrate();
+    m3pi.sensor_auto_calibrate();
     float speed = 0.4;
 
     while (1) {
 
         // -1.0 is far left, 1.0 is far right
-        position_of_line = pi.line_position();
+        position_of_line = m3pi.line_position();
 
         // Line is more than 75% to the left
         if (position_of_line < -0.25) {
-            pi.left_motor(speed + 0.3);
-            pi.right_motor(speed - 0.3);
+            m3pi.left_motor(speed + 0.3);
+            m3pi.right_motor(speed - 0.3);
             leds = 0xc;
         }
         // Line is more than 25% to the left
         else if (position_of_line < -0.10) {
-            pi.left_motor(speed);
-            pi.right_motor(speed - 0.3);
+            m3pi.left_motor(speed);
+            m3pi.right_motor(speed - 0.3);
             leds = 0x4;
         }
         // Line is more than 75% to the right
         else if (position_of_line > 0.25) {
-            pi.right_motor(speed + 0.3);
-            pi.left_motor(speed - 0.3);
+            m3pi.right_motor(speed + 0.3);
+            m3pi.left_motor(speed - 0.3);
             leds = 0x3;
         }
         // Line is more than 75% to the right
         else if (position_of_line > 0.10) {
-            pi.right_motor(speed);
-            pi.left_motor(speed - 0.3);
+            m3pi.right_motor(speed);
+            m3pi.left_motor(speed - 0.3);
             leds = 0x2;
         }
         // Line is inthe middle
         else {
-            pi.forward(speed);
+            m3pi.forward(speed);
             leds = 0x0;
         }
     }