Diff: main.cpp

Revision:

32:b7a08eb0408d

Parent:

31:19bb96d3113e

--- a/main.cpp	Fri Jan 03 16:36:19 2020 +0000
+++ b/main.cpp	Mon Jan 06 11:55:52 2020 +0000
@@ -173,60 +173,56 @@
     while (SW1 == RELEASED);
     //Wait - so buggy doesn't move immediately
     wait(1.0);
-    //Main loop
-    while(1) {
-        straight();   //starts the straight function
-        oneRPS();     //starts oneRPS function
-        timeA();      //TimeA function to get wheel speed and distance
-        timeB();      //TimeB function to get wheel speed and distance
+    straight();   //starts the straight function
+    oneRPS();     //starts oneRPS function
+    timeA();      //TimeA function to get wheel speed and distance
+    timeB();      //TimeB function to get wheel speed and distance
+    terminal.printf("wheelA: %6.3f \t wheelB: %6.3f \t distanceA: %6.2f \t distanceB: %6.2f\n\r", speedA, speedB, travA, travB);
+    while(travA <= 1250) {      //starts moving from 0mm to 1250mm (distance of wheel travel)
+        timeA();    //Starts time A
+        timeB();    //starts time B
+        oneRPS();   //starts oneRPS function
+        terminal.printf("wheelA: %6.3f \t wheelB: %6.3f \t distanceA: %6.2f \t distanceB: %6.2f\n\r", speedA, speedB, travA, travB);
+    }
+    reset();       //activates reset function
+    turn();        //starts turn function
+    while(travA <= 597) {   //moves from 0mm to 597mm (distance of outside wheel travel)
+        timeA();   //starts time A
+        timeB();   //starts time B
+        cornerRPS();  //starts CornerRPS function
         terminal.printf("wheelA: %6.3f \t wheelB: %6.3f \t distanceA: %6.2f \t distanceB: %6.2f\n\r", speedA, speedB, travA, travB);
-        while(travA <= 1250) {      //starts moving from 0mm to 1250mm (distance of wheel travel)
-            timeA();    //Starts time A
-            timeB();    //starts time B
-            oneRPS();   //starts oneRPS function
-            terminal.printf("wheelA: %6.3f \t wheelB: %6.3f \t distanceA: %6.2f \t distanceB: %6.2f\n\r", speedA, speedB, travA, travB);
-        }
-        reset();       //activates reset function
-        turn();        //starts turn function
-        while(travA <= 597) {   //moves from 0mm to 597mm (distance of outside wheel travel)
-            timeA();   //starts time A
-            timeB();   //starts time B
-            cornerRPS();  //starts CornerRPS function
-            terminal.printf("wheelA: %6.3f \t wheelB: %6.3f \t distanceA: %6.2f \t distanceB: %6.2f\n\r", speedA, speedB, travA, travB);
-        }
-        reset();        //activates reset function
-        straight();     //starts the straight function
-        while(travA <= 1457) { //starts moving from 0mm to 1457mm (distance of wheel travel)
-            timeB();    //starts time A
-            timeA();    //starts time B
-            oneRPS();   //starts oneRPS function
-            terminal.printf("wheelA: %6.3f \t wheelB: %6.3f \t distanceA: %6.2f \t distanceB: %6.2f\n\r", speedA, speedB, travA, travB);
-        }
-        reset();    //activates reset function
-        turn();        //starts turn function
-        while(travA <= 453.8) { //starts moving from 0mm to 453.8mm (distance of wheel travel)
-            timeA();        //starts time A
-            timeB();        //starts time B
-            cornerRPS(); ///starts CornerRPS function
-            terminal.printf("wheelA: %6.3f \t wheelB: %6.3f \t distanceA: %6.2f \t distanceB: %6.2f\n\r", speedA, speedB, travA, travB);
-        }
-        reset();        //activates reset function
-        straight();     //starts the straight function
-        while(travA <= 750) {     //starts moving from 0mm to 750mm (distance of wheel travel)
-            timeB();        //starts time A
-            timeA();        //starts time B
-            oneRPS();       //starts oneRPS function
-            terminal.printf("wheelA: %6.3f \t wheelB: %6.3f \t distanceA: %6.2f \t distanceB: %6.2f\n\r", speedA, speedB, travA, travB);
-        }
-        reset();        //activates reset function
-        turn();         //starts turn function
-        while(travA <= 350.3) {   //starts moving from 0mm to 349mm (distance of wheel travel)
-            timeA();        //starts time A
-            timeB();        //starts time B
-            cornerRPS(); //starts CornerRPS function
-            terminal.printf("wheelA: %6.3f \t wheelB: %6.3f \t distanceA: %6.2f \t distanceB: %6.2f\n\r", speedA, speedB, travA, travB);
-        }
-        break;
+    }
+    reset();        //activates reset function
+    straight();     //starts the straight function
+    while(travA <= 1457) { //starts moving from 0mm to 1457mm (distance of wheel travel)
+        timeB();    //starts time A
+        timeA();    //starts time B
+        oneRPS();   //starts oneRPS function
+        terminal.printf("wheelA: %6.3f \t wheelB: %6.3f \t distanceA: %6.2f \t distanceB: %6.2f\n\r", speedA, speedB, travA, travB);
+    }
+    reset();    //activates reset function
+    turn();        //starts turn function
+    while(travA <= 453.8) { //starts moving from 0mm to 453.8mm (distance of wheel travel)
+        timeA();        //starts time A
+        timeB();        //starts time B
+        cornerRPS(); ///starts CornerRPS function
+        terminal.printf("wheelA: %6.3f \t wheelB: %6.3f \t distanceA: %6.2f \t distanceB: %6.2f\n\r", speedA, speedB, travA, travB);
+    }
+    reset();        //activates reset function
+    straight();     //starts the straight function
+    while(travA <= 750) {     //starts moving from 0mm to 750mm (distance of wheel travel)
+        timeB();        //starts time A
+        timeA();        //starts time B
+        oneRPS();       //starts oneRPS function
+        terminal.printf("wheelA: %6.3f \t wheelB: %6.3f \t distanceA: %6.2f \t distanceB: %6.2f\n\r", speedA, speedB, travA, travB);
+    }
+    reset();        //activates reset function
+    turn();         //starts turn function
+    while(travA <= 350.3) {   //starts moving from 0mm to 349mm (distance of wheel travel)
+        timeA();        //starts time A
+        timeB();        //starts time B
+        cornerRPS(); //starts CornerRPS function
+        terminal.printf("wheelA: %6.3f \t wheelB: %6.3f \t distanceA: %6.2f \t distanceB: %6.2f\n\r", speedA, speedB, travA, travB);
     }
     PWMA.write(0.0f);       //tells wheel A to stop
     PWMB.write(0.0f);       //tells wheel B to stop