Revision 1:c7d5b9662b4f, committed 2018-07-19

Comitter:

cudaChen

Date:

Thu Jul 19 05:41:17 2018 +0000

Parent:

0:b9d5ff825f0f

Commit message:

[milestone] first commit

Changed in this revision

--- 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);

--- a/autocar/autocar.h	Thu Jul 19 05:17:01 2018 +0000
+++ b/autocar/autocar.h	Thu Jul 19 05:41:17 2018 +0000
@@ -33,6 +33,7 @@
 void driveMotor(bool left, bool middle, bool right);
 void driveMotor(bool left, bool middle, bool right, bool hasObstacle);
 void driveMotorPID(int values, float Kp, float Ki, float Kd);
+void obstacle(bool hasCliff, bool hasObstacle);
 
 void init();
 void stop();

--- a/main.cpp	Thu Jul 19 05:17:01 2018 +0000
+++ b/main.cpp	Thu Jul 19 05:41:17 2018 +0000
@@ -34,10 +34,12 @@
     bool left = false;
     bool middle = false;
     bool right = false;
+    
+    bool hasCliff = false;
     bool hasObstacle = false;
 
     int threshold = 500; // here I use 500 as threshold of IR sensor
-    int range = 30; // range of obstacle (cm)
+    int range = 15; // range of obstacle (cm)
 
     // set two motors to stop
     init();
@@ -68,9 +70,12 @@
             readSensor(&left, &middle, &right, &hasObstacle, threshold, range);
             //values = readIRValues(); // read IR values
 
+            hasCliff = left || middle || right;
+
             //driveMotor(left, middle, right);
-            driveMotor(left, middle, right, hasObstacle);
+            //driveMotor(left, middle, right, hasObstacle);
             //driveMotorPID(values, Kp, Ki, Kd);
+            obstacle(hasCliff, hasObstacle);
         }
     }
 }