Diff: scanner.cpp

Revision:

5:4d5601a9dffe

Parent:

4:6a8d80954323

Child:

6:5e24ff86b743

--- a/scanner.cpp	Tue Mar 22 03:00:16 2016 +0000
+++ b/scanner.cpp	Tue Mar 22 18:11:36 2016 +0000
@@ -114,14 +114,14 @@
     servoL.write(DUTY[dutyL]);
     servoR.write(DUTY[dutyR]);
     wait(0.1);
-    /* distLeft = longRangL.read();
-       distRight = longRangeR.read(); */
+    distLeft = longRangeL.distInchesL();
+    distRight = longRangeR.distInchesR();
     dutyL = HALF_DUTY;
     dutyR = HALF_DUTY;
     servoL.write(DUTY[dutyL]);
     servoR.write(DUTY[dutyR]);
     wait(0.1);
-    /* distForward = ( longRangeL.read() + longRangeR.read() )/2.0 */
+    distForward = ( longRangeL.distInchesL() + longRangeR.distInchesR() )/2.0;
     pitEnable = 1;
 }
 
@@ -141,10 +141,20 @@
     if (pitEnable == 1)
     {
         // obtain distance measures from sensors
+        distLeft = longRangeL.distInchesL();
+        distRight = longRangeR.distInchesR();
+        
         // check avoid flag
-        // add obstacle avoid code
+        if (avoidFlag == 1)
+        {
+            // add obstacle avoid code
+        }
+        
         // check hunt flag
-        // add hunt code
+        else if (huntFlag == 1)
+        {
+            // add hunt code
+        }
 
         // increment/decrement servo position
         dutyL += invertL;