Lu-Hsuan Chen / Mbed OS autocar_obstacle_mbed

autocar with cliff and obstacle avoidance feature

Dependencies:   Ping

Diff: autocar/autocar.cpp

Revision:
1:c7d5b9662b4f
Parent:
0:b9d5ff825f0f
diff -r b9d5ff825f0f -r c7d5b9662b4f autocar/autocar.cpp
--- a/autocar/autocar.cpp	Thu Jul 19 05:17:01 2018 +0000
+++ b/autocar/autocar.cpp	Thu Jul 19 05:41:17 2018 +0000
@@ -236,6 +236,22 @@
     }
 }
 
+void obstacle(bool hasCliff, bool hasObstacle)
+{
+    if(hasCliff || hasObstacle)
+    {
+        backward();
+        wait_ms(300);
+        stop();
+        wait_ms(200);
+        turnRight();
+        wait_ms(200);
+    }
+    
+    forward();
+    wait_ms(200);
+}
+
 void init()
 {
     DriveSingleMotor(MOTOR_M1, PWR_STOP, DIR_FORWARD);