Diff: main.cpp

Revision:

4:6546c17ac0a6

Parent:

3:c07ea8bf242e

Child:

5:85951362fd6d

--- a/main.cpp	Wed Nov 21 19:30:56 2018 +0000
+++ b/main.cpp	Wed Nov 21 19:33:33 2018 +0000
@@ -66,7 +66,7 @@
     };
     
     // Turn left 90 degrees:
-    void turnLeft(void){
+    void turnLeft(float currt){
         stop();
         while ((t.read()-currt) < 2) {
             Lfront.speed(-1);
@@ -79,7 +79,7 @@
     };
     
     // Turn right 90 degrees:
-    void turnRight(void){
+    void turnRight(float currt){
         stop();
         while ((t.read()-currt) < 2) {
             Lfront.speed(1);
@@ -105,13 +105,13 @@
     // 4) Continue forward until wall.
         // [Step 1]
         float currt = t.read();
-        if (tr) {mctrl.turnRight(currt)} else {mctrl.turnLeft(currt)}
+        if (tr) {mctrl.turnRight(currt);} else {mctrl.turnLeft(currt);}
         // [Step 2]
         currt = t.read();
-        while ((t.read()-currt) < 2) {mctrl.fwd()}
+        while ((t.read()-currt) < 2) {mctrl.fwd();}
         // [Step 3]
         currt = t.read();
-        if (tr) {mctrl.turnRight(currt)} else {mctrl.turnLeft(currt)}
+        if (tr) {mctrl.turnRight(currt);} else {mctrl.turnLeft(currt);}
         // [End]
         tr = !tr;
     }