Diff: Robot-bae8eb81a9d7/main.cpp

Revision:

2:2d147091491d

Parent:

1:2db3ccba18c8

Child:

3:4284d7cdb68e

--- a/Robot-bae8eb81a9d7/main.cpp	Wed Jun 03 14:29:48 2015 +0000
+++ b/Robot-bae8eb81a9d7/main.cpp	Thu Jun 04 11:57:24 2015 +0000
@@ -6,7 +6,7 @@
 m3pi robot;
 Timer timer;
 Timer time_wait;
-#define MAX 0.75
+#define MAX 0.5
 #define MIN 0
 
 #define P_TERM 2.5
@@ -55,7 +55,7 @@
 
     time_wait.start();
     
-    turns = blah[(3-1)*6+(2-1)];
+    turns = blah[(4-1)*6+(2-1)];
     while(Run) {
         time_wait.reset();
         //Get raw sensor values
@@ -76,10 +76,22 @@
             
             
             if(turns.at(direction) == 'L'){
+                while(x[0] > 300){
+                    goStraight();
+                    robot.calibrated_sensor(x);
+                    }
                 previous_pos = 0;
                 robot.stop();
                 //wait(1);
-                turnLeft();
+                 while(/*x[0] > 300 &&*/ x[2] > 300){
+                    turnLeft();
+                    robot.calibrated_sensor(x);
+                }
+               
+                while((x[0] > 300) || (x[2] < 300)){
+                    turnLeft();
+                    robot.calibrated_sensor(x);
+                    }
                 robot.stop();
                 //continue;
                 /*wait(1);
@@ -90,7 +102,15 @@
                 previous_pos = 0;
                 robot.stop();
                 //wait(1);
-                turnRight();
+                while(x[4] > 300 && x[2] > 300){
+                    turnRight();
+                    robot.calibrated_sensor(x);
+                }
+                
+                while((x[4] > 300) || (x[2] < 300)){
+                    turnRight();
+                    robot.calibrated_sensor(x);
+                    }
                 robot.stop();
                 
                 /*wait(1);
@@ -99,8 +119,11 @@
             }
             else{
                 robot.stop();
-                wait(1);
-                goStraight();
+                //wait(1);
+                while(x[0] > 300 || x[4] > 300){
+                    goStraight();
+                    robot.calibrated_sensor(x);
+                }
                 //wait(1);
             }
             robot.cls();
@@ -177,28 +200,28 @@
 
 
 void turnRight(){
-    Timer turner;
-    turner.start();
-    while (turner.read_ms() < 130){
+    //Timer turner;
+    //turner.start();
+    //while (turner.read_ms() < 10){
             robot.right(.5);
-    }
-    turner.stop();
+    //}
+    //turner.stop();
 }
 
 void turnLeft(){
-    Timer turner;
-    turner.start();
-    while (turner.read_ms() < 130){
+//    Timer turner;
+  //  turner.start();
+  //  while (turner.read_ms() < 10){
             robot.left(.5);
-    }
-    turner.stop();
+   // }
+    //turner.stop();
 }
 
 void goStraight(){
-    Timer turner;
-    turner.start();
-    while (turner.read_ms() < 25){
+   // Timer turner;
+   // turner.start();
+   // while (turner.read_ms() < 5){
             robot.forward(.5);
-    }
-    turner.stop();
+   // }
+   // turner.stop();
 }
\ No newline at end of file