Diff: main/main.cpp

Revision:

3:a5e06482462e

Parent:

2:940e46e21353

Child:

4:38c29dbc5953

--- a/main/main.cpp	Thu Feb 13 15:28:21 2020 +0000
+++ b/main/main.cpp	Thu Feb 13 16:34:40 2020 +0000
@@ -45,6 +45,7 @@
 char path[100];
 int path_length = 0;
 unsigned int *sensor;  
+float speed;
 
 // Main
 
@@ -52,7 +53,7 @@
 {
     init();
     calibrate();
-    float speed = (pot_S*0.4)+0.1;   // have it so max is 0.5 and min is 0.1
+    speed = (pot_S*0.4)+0.1;   // have it so max is 0.5 and min is 0.1
     
     float proportional = 0.0;
     float prev_proportional = 0.0;
@@ -178,35 +179,33 @@
 void left()
 {
     leds = 0b1100;
-    //while (sensor[0] > 500) { robot.scan(); }
-    wait(0.2);
+
+    while (sensor[0] > 500) { robot.scan(); }
+    
+    if (speed <= 0.25) { wait(0.1); }
+    
     robot.spin_left(0.2);
-    wait(0.32);                              // this wait could be replaced with while statements that wait for sensor3 to become untrigger then retriggered)
-    /*while (sensor[3] > 500) {
-        robot.scan();
-        wait(0.1);
-        while (sensor[3] < 500) {
-            robot.scan();
-            wait(0.1);
-        }
-    }*/
-    //robot.scan();
-    //robot.follow_line();
+    wait(0.1);
+    
+    while (sensor[1] < 500) { robot.scan(); }
+    
+    while (sensor[1] > 500) { robot.scan(); }
 }
 
 void right()
 {
     leds = 0b0011;
-    //while (sensor[0] > 500) { robot.scan(); }
-    wait(0.2);
+    
+    while (sensor[4] > 500) { robot.scan(); }
+    
+    if (speed <= 0.25) { wait(0.1); }
+    
     robot.spin_right(0.2);
-    wait(0.32);
-    /*while (sensor[1] > 500) {
-        while (sensor[1] < 500) {
-        }
-    }*/
-    //robot.scan();
-    //robot.follow_line();
+    wait(0.1);
+    
+    while (sensor[3] < 500) { robot.scan(); }
+    
+    while (sensor[3] > 500) { robot.scan(); }
 }
 
 void back() 
@@ -215,11 +214,10 @@
     robot.reverse(0.2);
     wait(0.15);
     robot.spin_right(0.2);
-    wait(0.6);
-    /*
-    while (sensor[1] < 500) {
-    }
-    */
+    
+    while (sensor[3] < 500) { robot.scan(); }
+    
+    while (sensor[3] > 500) { robot.scan(); }
 }
 
 void goal()