Revision 10:57a0c57cabac, committed 2016-10-16

Comitter:

csellier

Date:

Sun Oct 16 18:03:21 2016 +0000

Parent:

9:a543d0cdfce9

Child:

11:055ee1a3cb75

Commit message:

Program collision avoidance 90 90 90, missing line-following feature

Changed in this revision

--- a/main.cpp	Sun Oct 16 16:36:56 2016 +0000
+++ b/main.cpp	Sun Oct 16 18:03:21 2016 +0000
@@ -27,9 +27,9 @@
 int main() {
     float front;
     float left;
-    float right;
-    float LDRvalueleft;
-    float LDRvalueright;
+//    float right;
+//    float LDRvalueleft;
+//    float LDRvalueright;
 
      // set the USB serial interface baud rate
      pc.baud(921600);
@@ -40,9 +40,9 @@
     // Auto drive : the car will avoid all obstacles aroiund it and get away from them
     front = IRfront.read();
     left  = IRleft.read();
-    right = IRright.read();
-    LDRvalueright = LDRright.read();
-    LDRvalueleft = LDRleft.read();       //output voltage of the LDR used for line following feature
+//    right = IRright.read();
+//    LDRvalueright = LDRright.read();
+//    LDRvalueleft = LDRleft.read();       //output voltage of the LDR used for line following feature
     
    /*****************************************************************************
    / if (front > DISTANCE) {           Collision avoidance system only,the robot will move away from an obstacle/wall if getting to close to it
@@ -62,7 +62,8 @@
     /        ServoLeft.write(0.4);
     /    }
     / }
-   /*****************************************************************************/
+   *****************************************************************************/
+   
     //Turn both LED's on for the line following feature
     LEDleft=1;
     LEDright=1;
@@ -76,6 +77,10 @@
        ServoRight.write(0.5); // stop servoright
        ServoLeft.write(0.4); // turn on servoleft 
        wait(2.0); //wait 2 seconds to allow the robot to turn approximately 90 degrees
+       // go straight for a second to establish separation from the object
+       ServoRight.write(0.6); 
+       ServoLeft.write(0.4);
+       wait(1.0);
        if (left > DISTANCE) {
            // keep going straight for 1 second
            ServoRight.write(0.6); // write to the continuous rotation servo1
@@ -98,12 +103,13 @@
                ServoRight.write(0.6);
                ServoLeft.write(0.5);
                wait(2.0);     //wait 2 seconds to allow robot to turn 90 degrees
+               ServoRight.write(0.6);    //after turning 90 deg turn both servos on so the robot goes straight ahead
+               ServoLeft.write(0.4);
                }     
            }
-           
-         
-
-    }
+           }
+    else if (front < DISTANCE) {
+     //follow line
+     }      
 }
-
-
+}
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