Remote Control Car

Diff: main.cpp

Revision:

5:b1b250500440

Parent:

4:29839de66eae

--- a/main.cpp	Thu Nov 19 21:19:12 2020 +0000
+++ b/main.cpp	Fri Nov 27 20:45:42 2020 +0000
@@ -16,6 +16,7 @@
 int state = 0; //global variable stop state 
 int status1;
 int status2;
+int autoPilotLock;
 int distanceCenter;
 int distanceLeft;
 int distanceRight;
@@ -56,12 +57,12 @@
                         break;
                     case '7': //left
                         if (bhit=='1') {
-                            S = S - 0.5; //turn left                                
+                            S = S + 0.5; //turn left                                
                         }
                         break;
                     case '8': //right
                         if (bhit=='1') {
-                            S = S + 0.5; //turn right
+                            S = S - 0.5; //turn right
                         }
                         break;
                     }
@@ -72,15 +73,24 @@
 }
 
 void autoPilot() {
-    if (distanceCenter >= 250) {
+    autoPilotLock = 0;
+    if (distanceCenter >= 200 && autoPilotLock == 0) {
         M.speed(1.0);
         S = 0.5;
     }
     else if (distanceRight > distanceLeft) { //More space on right so turn right
-        S = 1.0;
+        autoPilotLock = 1;
+        M.speed(-1.0);
+        S = 0;
+        wait_ms(1000);
+        autoPilotLock = 0;
     }
     else { //or turn left
-        S = 0;
+        autoPilotLock = 1;
+        M.speed(-1.0);
+        S = 1.0;
+        wait_ms(1000);
+        autoPilotLock = 0;
     }
 }