Diff: main.cpp

Revision:

2:64a1dd5f6dc7

Parent:

0:8637a4213254

Child:

3:857732eebab2

--- a/main.cpp	Mon Jun 18 12:04:32 2018 +0000
+++ b/main.cpp	Mon Jun 18 13:09:00 2018 +0000
@@ -82,7 +82,12 @@
 	right();
 	wait_ms(1000);
 	stop();*/
-	}
+
+	/*forward();						//輪胎馬達前進
+	if(LiDAR_Distance <= 30)		//LiDAR_Distance 由 LiDAR sensor 獲得距離
+	{
+		TurnLeft_or_TurnRight();
+	}*/
 }
 
 void reverse(){
@@ -91,7 +96,6 @@
     pinI3=1;
     pinI4=0;
 }
-
 void forward(){
     pinI1=0;
     pinI2=1;
@@ -103,16 +107,28 @@
     pinI2=1;
     pinI3=0;
     pinI4=0;
-	}
+}
 void right(){
     pinI1=0;
     pinI2=0;
     pinI3=0;
     pinI4=1;
-	}
+}
 void stop(){
     pinI1=0;
     pinI2=0;
     pinI3=0;
     pinI4=0;
-	}
+}
+/*void TurnLeft_or_TurnRight(){
+			sg.SetAngle(-80);		//伺服馬達轉向左
+			LeftDistance = LiDAR_Distance;		//雷達測距並存到 LeftDistance
+			
+			sg.SetAngle(80);		//伺服馬達轉向右
+			RightDistance = LiDAR_Distance;		//雷達測距並存到 RightDistance
+			
+			if(LeftDistance > RightDistance)		//比較左右邊的距離
+				left();
+			else 
+				right();
+}*/
\ No newline at end of file