Diff: source/StartUp.cpp

Revision:

60:b57577b0072f

Parent:

57:1a395b6928ee

Child:

66:87b615e4a842

--- a/source/StartUp.cpp	Tue Apr 18 15:40:21 2017 +0000
+++ b/source/StartUp.cpp	Tue Apr 18 16:19:18 2017 +0000
@@ -1,20 +1,28 @@
 #include "StartUp.h"
 
+bool stb = false;
+bool stb2 = false;
+bool stb3 = false;
 
 int idel()
 {
-    if(get_user()) {
-        return 15;
+
+    if(get_user() == false && stb) {
+        return 15; // button pressed
     } else {
+        stb = true;
         return 10;
     }
 }
 
 int idel2()
 {
-    if(get_user()) {
-        return 25;
+
+    if(get_user() == false && stb2) {
+        return 25; // button pressed
     } else {
+        stb2 = true;
+        wait_ms(100);
         return 11;
     }
 }
@@ -29,13 +37,24 @@
 
 int inital_positioning()
 {
-
+    printf("positioning...\r\n");
     return 11;
 }
 
 
 int initial_turn()
 {
-
-    return 0;
+    
+    if(stb3 == false) {
+        stb3 = true;
+        printf("initial turn...\r\n");
+        turn_for_deg(180);
+    } else {
+        printf("turning...\r\n");
+        if(1) { // check if turning complete
+            printf("turn finished...\r\n");
+            return 35;
+        }
+    }
+    return 27;
 }