Diff: LineFollowingRobot/main.cpp

Revision:

1:a2ceed49374e

Parent:

0:a02a278513d9

Child:

2:74d8b693bc62

--- a/LineFollowingRobot/main.cpp	Sat Jan 26 18:18:13 2019 +0000
+++ b/LineFollowingRobot/main.cpp	Sat Feb 02 16:11:37 2019 +0000
@@ -1,38 +1,19 @@
 #include <mbed.h>
 #include "RobotControl_H.h"
-
-DigitalIn leftIR(PTC6);
-DigitalIn midLeftIR(PTC5);
-DigitalIn midIR(PTC4);
-DigitalIn midRightIR(PTC3);
-DigitalIn rightIR(PTC0);
-
-Ticker sampling;
-bool lineSensor[5], toggle2 = false;
+#include "IRSensor_H.h"
 
 
-void Sample(){
-    //function attached to the ticker
-    //assigns the data recieved for each digital in into an array
-    //toggle is toggled at every ISR, signifying the ISR has occured
-    
-    lineSensor[0] = leftIR;
-    lineSensor[1] = midLeftIR;
-    lineSensor[2] = midIR;
-    lineSensor[3] = midRightIR;
-    lineSensor[4] = rightIR;
-    
-    toggle2 = !toggle2;
-}
-
+Ticker sampling;
 
 
 
 int main(){
 
-//get a first reading
-Sample();
-sampling.attach(&Sample, 0.01);
+bool toggleIR;
+
+IRSensor IRSensor(PTC6, PTC5, PTC4, PTC3, PTC0, 0.0, 0.0, 0.0);
+
+sampling.attach(callback(&IRSensor, &IRSensor::Sample), 0.01);
 
 RobotControl controlLeft(PTC12,PTD4,PTA5);
 RobotControl controlRight(PTA13,PTA12,PTA4);
@@ -40,7 +21,14 @@
 
  
  while(1){
-    wait(1);
+
+    
+    if(toggleIR != IRSensor.m_toggle){
+        IRSensor.WeightPID();
+        IRSensor.CalculatePID();
+        IRSensor.MotorControl(controlLeft,controlRight);
+        }
+        
     }   
     
 }
\ No newline at end of file