Gal Yaroslavsky / MicroMouse-v1

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Dependencies:   L3GD20 LSM303DLHC mbed

Diff: Headers/Sensors.h

Revision:
4:ecfe2115e9a4
Parent:
3:1a8a7cc709cc
Child:
5:9e504a5a1f48
--- a/Headers/Sensors.h	Thu Apr 03 15:52:54 2014 +0000
+++ b/Headers/Sensors.h	Thu Apr 03 17:34:00 2014 +0000
@@ -23,6 +23,7 @@
 bool wallfront = false;
 bool wallright = false;
 bool wallleft = false;
+float cal_R =0, cal_L =0, cal_F =0;
 
 
 bool wallFront()
@@ -31,11 +32,17 @@
 }
 bool wallLeft()
 {
-    return SenseL.read() > .94;
+    return abs(log(1-SenseL.read())) < 5;
 }
 bool wallRight()
 {
-    return SenseR.read() > .94;
+    return abs(log(1-SenseR.read())) < 5;
 }
-
+void check_walls()
+{
+  wallLeft();
+  wallRight();
+  wallFront();  
+    
+}
 #endif
\ No newline at end of file