Diff: LineFollower.cpp

Revision:

2:7a4179249fa4

Parent:

1:c319e24af8df

--- a/LineFollower.cpp	Fri Feb 21 04:40:34 2014 +0000
+++ b/LineFollower.cpp	Fri Feb 21 04:54:56 2014 +0000
@@ -36,7 +36,7 @@
     uint8_t LineFollower::read(){
         uint8_t binary = 0;
         int multi = 1;
-        for(int i=0; i<=8; i++){
+        for(int i=0; i<8; i++){
                binary += array[i]*multi;
                multi = multi*2;
         }
@@ -57,68 +57,68 @@
             switch(count){
                 
                 case 1: if(this->read() == 0b10000000){
-                            l = -(0.75 * MAXSPEED);
-                            r = MAXSPEED;
+                            l.speed(-(0.75 * MAXSPEED));
+                            r.speed(MAXSPEED);
                         }
                         else if(this->read() == 0b00000001){
-                            l = MAXSPEED;
-                            r = -(0.75 * MAXSPEED);
+                            l.speed(MAXSPEED);
+                            r.speed(-(0.75 * MAXSPEED));
                         }
                         break;
                         
                 case 2: if(this->read() == 0b00011000){
-                            l = MAXSPEED;
-                            r = MAXSPEED;
+                            l.speed(MAXSPEED);
+                            r.speed(MAXSPEED);
                         }
                         else if(this->read() == 0b11000000){
-                            l = -(0.5 * MAXSPEED);
-                            r = MAXSPEED;
+                            l.speed(-(0.5 * MAXSPEED));
+                            r.speed(MAXSPEED);
                         }
                         else if(this->read() == 0b00000011){
-                            l = MAXSPEED;
-                            r = -(0.5 * MAXSPEED);
+                            l.speed(MAXSPEED);
+                            r.speed(-(0.5 * MAXSPEED));
                         }
                         else if(this->read() == 0b01100000){
-                            l = 0;
-                            r = MAXSPEED;
+                            l.speed(0);
+                            r.speed(MAXSPEED);
                         }
                         else if(this->read() == 0b00000110){
-                            l = MAXSPEED;
-                            r = 0;
+                            l.speed(MAXSPEED);
+                            r.speed(0);
                         }
                         else if(this->read() == 0b00110000){
-                            l = 0.5*MAXSPEED;
-                            r = MAXSPEED;
+                            l.speed(0.5*MAXSPEED);
+                            r.speed(MAXSPEED);
                         }
                         else if(this->read() == 0b00001100){
-                            l = MAXSPEED;
-                            r = 0.5*MAXSPEED;
+                            l.speed(MAXSPEED);
+                            r.speed(0.5*MAXSPEED);
                         }
                         break;
                         
                 case 3: if(this->read() == 0b11100000){
-                            l = -(0.25*MAXSPEED);
-                            r = MAXSPEED;
+                            l.speed(-(0.25*MAXSPEED));
+                            r.speed(MAXSPEED);
                         }
                         else if(this->read() == 0b00000111){
-                            l = MAXSPEED;
-                            r = -(0.25*MAXSPEED);
+                            l.speed(MAXSPEED);
+                            r.speed(-(0.25*MAXSPEED));
                         }
                         else if(this->read() == 0b01110000){
-                            l = 0.25*MAXSPEED;
-                            r = MAXSPEED;
+                            l.speed(0.25*MAXSPEED);
+                            r.speed(MAXSPEED);
                         }
                         else if(this->read() == 0b00001110){
-                            l = MAXSPEED;
-                            r = .25*MAXSPEED;
+                            l.speed(MAXSPEED);
+                            r.speed(0.25*MAXSPEED);
                         }
                         else if(this->read() == 0b00111000){
-                            l = 0.5*MAXSPEED;
-                            r = MAXSPEED;
+                            l.speed(0.5*MAXSPEED);
+                            r.speed(MAXSPEED);
                         }
                         else if(this->read() == 0b00011100){
-                            l = MAXSPEED;
-                            r = 0.5*MAXSPEED;
+                            l.speed(MAXSPEED);
+                            r.speed(0.5*MAXSPEED);
                         }
                         break
               default:  break;