Diff: main.cpp

Revision:

1:f4db9b0bb5e2

Parent:

0:05dee1d3d857

Child:

2:73f7cc4c30c7

--- a/main.cpp	Thu Apr 04 03:44:59 2013 +0000
+++ b/main.cpp	Fri Apr 05 18:46:50 2013 +0000
@@ -6,6 +6,7 @@
 char path[1000] = "";
 unsigned char path_length = 0; // the length of the path so far
 int sensors[5];
+DigitalIn pb(p21);
 
 // Minimum and maximum motor speeds
 #define MAX 0.25
@@ -188,6 +189,44 @@
     // The path is now two steps shorter.
     path_length -= 2;
 }
+/*==============================================================================================================
+            PRESSED
+================================================================================================================*/
+void pressed()
+{
+     
+    // wait 15s to give time to turn off, or put the robot back to the start
+    wait(2);
+    // ideally we would use a button press here       
+    // but I don't think it can easily be read
+
+        // Re-run the maze.  It's not necessary to identify the
+        // intersections, so this loop is really simple.
+        int i;
+        for(i=0;i<path_length;i++)
+        {
+            follow_line();
+
+            // Drive straight while slowing down
+            //m3pi.forward(0.5);
+            //wait(0.05);
+            m3pi.forward(0.2);
+            wait(0.2);
+
+            // Make a turn according to the instruction stored in
+            // path[i].
+            doturn(path[i]);
+        }
+        
+        // Follow the last segment up to the finish.
+        follow_line();
+        m3pi.forward(0.2);
+             wait(0.6);
+       return;
+
+        // Now we should be at the finish!  Restart the loop.
+    
+}
 
 /*========================================================================================================
         MAZESOLVE
@@ -195,6 +234,7 @@
 // This function is called once, from main.c.
 void mazesolve()
 {
+
     // These variables record whether the robot has seen a line to the    
     // left, straight ahead, and right, while examining the current
     // intersection.
@@ -239,6 +279,7 @@
                 //move upon the home pad to show off
                     m3pi.forward(0.2);
                     wait(0.4);
+                    m3pi.printf("Finished");
                     break;
                 }
                     else found_left = 1; 
@@ -259,6 +300,7 @@
                 {
                     m3pi.forward(0.2);
                     wait(0.4);
+                    m3pi.printf("Finished");
                     break;
                 }
                 //can we go forward
@@ -307,41 +349,22 @@
     // times as we want to.
     while(1)
     {
-
-        m3pi.forward(0.0);
-        m3pi.printf("Finished");
-
-    // wait 15s to give time to turn off, or put the robot back to the start
-    wait(15);
-    // ideally we would use a button press here       
-    // but I don't think it can easily be read
-
-        // Re-run the maze.  It's not necessary to identify the
-        // intersections, so this loop is really simple.
-        int i;
-        for(i=0;i<path_length;i++)
+    m3pi.forward(0.0);
+     pb.mode(PullUp);
+       
+        if(pb)
         {
-            follow_line();
-
-            // Drive straight while slowing down
-            //m3pi.forward(0.5);
-            //wait(0.05);
-            m3pi.forward(0.2);
-            wait(0.2);
-
-            // Make a turn according to the instruction stored in
-            // path[i].
-            doturn(path[i]);
-        }
+            do
+            {
+           
+            }
+            while(pb);
+            pressed();
+           }                 
         
-        // Follow the last segment up to the finish.
-        follow_line();
-        m3pi.forward(0.2);
-             wait(0.6);
+    }
        
 
-        // Now we should be at the finish!  Restart the loop.
-    }
 }
 
 /*========================================================================================================
@@ -358,5 +381,4 @@
   mazesolve();
 
 m3pi.forward(0.0);
-
 }