Janus Bo Andersen / Mbed 2 deprecated T2PRO1_master

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Dependencies:   mbed m3pi

Diff: main.cpp

Revision:
13:6a8689f601cd
Parent:
12:dfc717775297
Child:
14:408d9d087d0f
--- a/main.cpp	Thu Nov 22 12:37:09 2018 +0000
+++ b/main.cpp	Thu Nov 29 12:24:51 2018 +0000
@@ -4,7 +4,7 @@
 m3pi m3pi;
 
 // Minimum and maximum motor speeds
-#define MAX 0.5
+#define MAX 0.3
 #define MIN 0
 
 // PID terms
@@ -28,7 +28,17 @@
         m3pi.locate(0,0);
         m3pi.printf("%d", arr[4]);
         }
-        
+ 
+int maze (void)
+{
+    
+    return 1;
+}       
+void turn_right (void)
+{
+    m3pi.right (0.3);
+    wait (0.2);
+}
 
 int main() {
 
@@ -86,13 +96,15 @@
         
         //Marc's sensor test
         sensor_all(sensor_val); // sensor_value gets fkt value
-       if ((sensor_val[0] > 800) && (sensor_val[4] > 800))
+        if (sensor_val[0] > 350 && sensor_val[4] > 350)
             {
-            speed = 0.2;
-            }
-        if ((sensor_val[0] > 800) && (sensor_val[4] > 150))
-            {
-            speed = 0.8;
+                 
+                m3pi.stop();
+                turn_right();
+                m3pi.stop();
+                m3pi.forward(0.2);
+                wait (0.5);
+                m3pi.stop();
             }
         /*
         sensor_value4 = sensor_all(4); // sensor_value gets fkt value