Diff: main.cpp

Revision:

5:50887f863c01

Parent:

4:1c83cabcd6f8

Child:

6:c76078abc03e

--- a/main.cpp	Tue Apr 29 22:18:25 2014 +0000
+++ b/main.cpp	Tue Apr 29 22:23:19 2014 +0000
@@ -48,107 +48,30 @@
         //pc.printf("Front Sensor is: %f \n", frontsensor);
 //        pc.printf("Left Sensor is: %f \n", leftsensor);
 //        pc.printf("Right Sensor is: %f \n", rightsensor);
-//        
+              
         if((frontsensor > 52)&&(frontsensor < 100)){
-            sensor = 2;}
-        else if((backsensor > 52)&&(backsensor < 100)){
-            sensor = 3;}
-        else if((leftsensor > 52)&&(leftsensor < 100)){
-            sensor = 1;}
-         else if((rightsensor > 52)&&(rightsensor < 100)){
-            sensor = 0;}
-        
-        
-        switch(sensor) 
-        {
-            case 0: //Right
-                mA.speed(.6);
-                mB.speed(.9);  
-                led_right = 1;
-                break;
-            case 1: // Left
-                mA.speed(.9);
-                mB.speed(.6);  
-                led_left = 1;
-                break;
-            case 2: // Front
-          //       mA.stop(0.5);
-//                 mB.stop(0.5);
-                mA.speed(-1);
-                mB.speed(-1); 
-                led_front = 1;
-                //mA.stop(0.5);
-//                 mB.stop(0.5);
+              mA.speed(-.6);
+                mB.speed(-.8);   
+                wait(1);
+              led_front = 1;
+              }
+              else {led_front= 0;}
+
+              if((backsensor > 52)&&(backsensor < 100)){
+                  
+            led_back = 1;}
+            else {led_back = 0;}
 
-                mA.speed(.2);
-                mB.speed(.2);
-                wait(0.5);
-                break;    
-            case 3: // Back//
-//                mA.speed(.4);
-//                mB.speed(.4);
-//                wait(0.5);
-//                 mA.stop(0.5);
-//                 mB.stop(0.5);
-                mA.speed(.7);
-                mB.speed(.7);  
-                led_back = 1;
-                break;
-            default ://
-//                mA.speed(.5);
-//                mB.speed(.5);
-//                wait(0.5);
-//                 mA.stop(0.3);
-//                 mB.stop(0.3);
-                mA.speed(0.7);
-                mB.speed(0.7);
-                led_left = 0;
-                led_back = 0;
-                led_front = 0;
-                led_right = 0;
-                 break; 
+          if((leftsensor > 52)&&(leftsensor < 100)){
+            led_left = 1;}
+            else {led_left = 0;}
+
+          if((rightsensor > 52)&&(rightsensor < 100)){
+            led_right = 1;}
+          else {led_right = 0;}
+                mA.speed(-.2);
+                mB.speed(-.2); 
+
+
         }
-                //led_left = 0;
-                //led_back = 0;
-                //led_front = 0;
-                //led_right = 0;
-        sensor = 4; //DEFAULT CONDITION
-       // Back Sensor
-       // if((backsensor > 52)&&(backsensor < 100)){
-//            mA.speed(.8);
-//            mB.speed(.8);  
-//            led_back = 1;
-//                             
-//        }
-//        // front Sensor
-//        else if((frontsensor > 52)&&(frontsensor < 100)){
-//            mA.speed(-1);
-//            mB.speed(-1);  
-//            led_front = 1;
-//                             
-//        }else
-//        // right Sensor
-//        if((rightsensor > 52)&&(rightsensor < 100)){
-//            mA.speed(.4);
-//            mB.speed(.6);  
-//            led_right = 1;
-//                             
-//        }else // Left Sensor
-//        if((leftsensor > 52)&&(leftsensor < 100)){
-//            mA.speed(.6);
-//            mB.speed(.4);  
-//            led_left = 1;
-//                             
-//        }else{
-//             mA.speed(1);
-//           mB.speed(1);
-//            led_left = 0; 
-//            led_back = 0;
-//            led_front = 0;
-//            led_right = 0;
-//        }     
-        
-        
-        wait(0.1);
-    }
 }
\ No newline at end of file