Diff: main.cpp

Revision:

12:dfc717775297

Parent:

11:394ab193971f

Child:

13:6a8689f601cd

--- a/main.cpp	Wed Nov 21 13:02:46 2018 +0000
+++ b/main.cpp	Thu Nov 22 12:37:09 2018 +0000
@@ -12,39 +12,23 @@
 #define I_TERM 0
 #define D_TERM 8
 
-int sensor_all(void) //lav en funktion? ved ikke hvad jeg skal her
+void sensor_all(int arr[]) //lav en funktion? ved ikke hvad jeg skal her
      {
-        int sensor_value[5]; // sensor int
-        m3pi.putc(0x86); // send noget sensor data
+        m3pi.putc(0x87); // send noget sensor data
     
         for(int n=0; n < 5; n++) // forloop så sensor for data
         {
         char lowbyte = m3pi.getc();
         char hibyte  = m3pi.getc();
-        sensor_value[n] = ((lowbyte + (hibyte << 8))); // sensor value
+        arr[n] = ((lowbyte + (hibyte << 8))); // sensor value
         }
         m3pi.cls();
         m3pi.locate(0,1);
-        m3pi.printf("%d", sensor_value[0]);
-        return sensor_value[0];
+        m3pi.printf("%d", arr[0]);
+        m3pi.locate(0,0);
+        m3pi.printf("%d", arr[4]);
         }
         
-int sensor_all2(void) //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 < 5; n++) // forloop så sensor for data
-        {
-        char lowbyte = m3pi.getc();
-        char hibyte  = m3pi.getc();
-        sensor_value[n] = ((lowbyte + (hibyte << 8))); // sensor value
-        }
-        m3pi.cls();
-        m3pi.locate(0,0);
-        m3pi.printf("%d", sensor_value[4]);
-        return sensor_value[4];
-        }
 
 int main() {
 
@@ -62,8 +46,7 @@
     float derivative,proportional,integral = 0;
     float power;
     float speed = MAX;
-    int sensor_val = 0;
-    int sensor_val2 = 0;
+    int sensor_val[5];
     
     while (1) {
       // Get the position of the line.
@@ -102,12 +85,15 @@
         m3pi.right_motor(right);
         
         //Marc's sensor test
-        sensor_val = sensor_all(); // sensor_value gets fkt value
-        sensor_val2 = sensor_all(); // sensor_value gets fkt value
-        if ((sensor_val > 1500) && (sensor_val2 > 1500))
-        {
+        sensor_all(sensor_val); // sensor_value gets fkt value
+       if ((sensor_val[0] > 800) && (sensor_val[4] > 800))
+            {
             speed = 0.2;
             }
+        if ((sensor_val[0] > 800) && (sensor_val[4] > 150))
+            {
+            speed = 0.8;
+            }
         /*
         sensor_value4 = sensor_all(4); // sensor_value gets fkt value
         */