GT ECE 4180 Lab Team - Raj Madisetti and Arjun Sonti
Dependencies: mbed Servo Motordriver X_NUCLEO_53L0A1 HC_SR04_Ultrasonic_Library
Remote Control Car
Georgia Tech ECE 4180 Embedded Systems Design Final Project
Team Members
Raj Madisetti Arjun Sonti
Revision 5:b1b250500440, committed 2020-11-27
- Comitter:
- rmadisetti3
- Date:
- Fri Nov 27 20:45:42 2020 +0000
- Parent:
- 4:29839de66eae
- Commit message:
- Final
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 29839de66eae -r b1b250500440 main.cpp --- 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; } }