main.cpp

00001 /*
00002 *RenBuggy_Ultrasonic
00003 *
00004 *A Program that allows the RenBuggy to avoid obstacles using two HC-SR04
00005 *ultrasonic modules.
00006 *
00007 *Copyright (c) 2016 Elijah Orr
00008 
00009 *Permission is hereby granted, free of charge, to any person obtaining a copy 
00010 *of this software and associated documentation files (the "Software"), to deal
00011 *in the Software without restriction, including without limitation the rights 
00012 *to use, copy, modify, merge, publish, distribute, sublicense, and/or sell    
00013 *copies of the Software, and to permit persons to whom the Software is        
00014 *furnished to do so, subject to the following conditions:                     
00015                                                                              
00016 *The above copyright notice and this permission notice shall be included in   
00017 *all copies or substantial portions of the Software.                          
00018                                                                              
00019 *THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR   
00020 *IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,     
00021 *FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE  
00022 *AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER       
00023 *LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00024 *OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN    
00025 *THE SOFTWARE.
00026 */
00027 
00028 //include files - mbed library and our ultrasonic library
00029 #include "mbed.h"
00030 #include "ultrasonic_buggy.h"
00031 
00032 //The main function is where the program will begin to execute
00033 int main(){
00034     
00035     //create two floating point vairables to store distance readings in
00036     float left_distance;
00037     float right_distance;
00038     //call the stop function to make sure buggy is stationary
00039     stop();
00040     //wait for some setup time
00041     wait(5);
00042     //the code in this while loop will always execute and will repeat forever
00043     while(1){
00044         
00045         //take a distance reading from each of the sensors
00046         left_distance = getDistance_l();
00047         right_distance = getDistance_r();
00048         
00049         //if there is an object on the left, turn right
00050         if(left_distance < 0.4){
00051           right(0.1);
00052         }
00053         //else if there is an object on the right, turn left
00054         else if(right_distance < 0.4){
00055             left(0.1);
00056         }
00057         //else move forwards
00058         else{
00059             forward(0.1);
00060         }
00061         //code loops back to start of while loop
00062     }
00063 }
00064