Diff: main.cpp

Revision:

1:47ea51d9e25d

Parent:

0:78f9794620a3

Child:

2:d22dcc2bfcc1

--- a/main.cpp	Thu May 12 11:48:56 2011 +0000
+++ b/main.cpp	Wed Nov 21 11:42:39 2018 +0000
@@ -4,20 +4,41 @@
 m3pi m3pi;
 
 // Minimum and maximum motor speeds
-#define MAX 1.0
+#define MAX 0.5
 #define MIN 0
 
 // PID terms
 #define P_TERM 1
 #define I_TERM 0
-#define D_TERM 20
+#define D_TERM 8
+
+int sensor_all(int i) //lav en funktion? ved ikke hvad jeg skal her
+     {
+        int sensor_value[5]; // sensor int
+        m3pi.putc(0x86); // send noget sensor data
+    
+        for(int n=0; n < 6; n++) // forloop så sensor for data
+        {
+        char lowbyte = m3pi.getc();
+        char hibyte  = m3pi.getc();
+        sensor_value[n] = ((lowbyte + (hibyte << 8))); // sensor value
+        }
+        return sensor_value[i]; //return sensor value string
+     }
 
 int main() {
-
+      //Marc's sensor test
+        m3pi.cls();
+        sensor_value0 = sensor_all(0); // sensor_value gets fkt value
+        sensor_value4 = sensor_all(4); // sensor_value gets fkt value
+        m3pi.locate(0,0);
+        m3pi.printf("%d", sensor_value0); // prints one of sidesensors value
+        m3pi.locate(0,1);
+        m3pi.printf("%d", sensor_value4); // prints the other sidesensor value
     m3pi.locate(0,1);
     m3pi.printf("Line PID");
 
-    wait(2.0);
+    wait(1.0);
 
     m3pi.sensor_auto_calibrate();
 
@@ -29,8 +50,11 @@
     float power;
     float speed = MAX;
     
+    int sensor_value0;
+    int sensor_value4;
+    
     while (1) {
-
+       
         // Get the position of the line.
         current_pos_of_line = m3pi.line_position();        
         proportional = current_pos_of_line;
@@ -65,6 +89,8 @@
        // set speed 
         m3pi.left_motor(left);
         m3pi.right_motor(right);
+       
+    
 
     }
 }
\ No newline at end of file