Wilson Guerrero / Mbed 2 deprecated Entrega_Tercer_Corte

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Dependencies:   mbed

Diff: main.cpp

Revision:
1:5650b51c59f7
Parent:
0:af114e34a5ae
--- a/main.cpp	Wed Nov 14 21:49:17 2018 +0000
+++ b/main.cpp	Tue Nov 20 01:43:26 2018 +0000
@@ -250,33 +250,67 @@
     mpasos[1]= mbuff[0][3];
     int cant=0;
     emisor.printf("pasos %d ",mpasos[1]);
-while(cant<mpasos[1])
+switch(mpasos[0])
 {
-    for (int aa=0;aa<4;aa++)
-    {
-        mbuff[0][1]=2;
-        mbuff[0][2]=aa+1;
-        mbuff[0][3]=3;
-        comando_2();
-        //wait_ms(200);
-        mbuff[0][1]=2;
-        mbuff[0][2]=aa+1;
-        mbuff[0][3]=2;        
-        comando_2();
-        //wait_ms(200);        
-    }
-    //wait_ms(100);
-    for (int bb=0;bb<4;bb++)
-    {
-        mbuff[0][1]=2;
-        mbuff[0][2]=bb+1;
-        mbuff[0][3]=4;
-        comando_2();
-    }
-        //wait_ms(200);
-        cant++;
+    case 1:
+    
+        while(cant<mpasos[1])
+        {
+            for (int aa=0;aa<4;aa++)
+            {
+                mbuff[0][1]=2;
+                mbuff[0][2]=aa+1;
+                mbuff[0][3]=3;
+                comando_2();
+                //wait_ms(200);
+                mbuff[0][1]=2;
+                mbuff[0][2]=aa+1;
+                mbuff[0][3]=2;        
+                comando_2();
+                //wait_ms(200);        
+            }
+            //wait_ms(100);
+            for (int bb=0;bb<4;bb++)
+            {
+                mbuff[0][1]=2;
+                mbuff[0][2]=bb+1;
+                mbuff[0][3]=4;
+                comando_2();
+            }
+                //wait_ms(200);
+                cant++;
+        }
+    break;
+    case 2:    
+    
+        while(cant<mpasos[1])
+        {
+            for (int zz=0;zz<4;zz++)
+            {
+                mbuff[0][1]=2;
+                mbuff[0][2]=zz+1;
+                mbuff[0][3]=4;
+                comando_2();
+                //wait_ms(200);
+                mbuff[0][1]=2;
+                mbuff[0][2]=zz+1;
+                mbuff[0][3]=2;        
+                comando_2();
+                //wait_ms(200);        
+            }
+            //wait_ms(100);
+            for (int vv=0;vv<4;vv++)
+            {
+                mbuff[0][1]=2;
+                mbuff[0][2]=vv+1;
+                mbuff[0][3]=3;
+                comando_2();
+            }
+                //wait_ms(200);
+                cant++;
+        }
+    break;
 }    
-    
 }
 
 void sensor_color()
@@ -407,6 +441,13 @@
                     mbuff[0][3]=1;                
                     paso();  
                 }
+                else if (JX.read()*1000<400)
+                {emisor.printf("atras\n");
+                    mbuff[0][1]=3;
+                    mbuff[0][2]=2;
+                    mbuff[0][3]=1;                
+                    paso();  
+                }        
                 else
                 {emisor.printf("Quieta\n");}        
                 wait(0.5);