Diff: main.cpp

Revision:

1:e4b822ee4fdf

Parent:

0:c642441cc98b

--- a/main.cpp	Tue Mar 08 06:37:21 2022 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,94 +0,0 @@
-#include "Common.h"
-
-bool enteredReverse = false;
-int packageDestination = 0;
-
-bool obstacleAvoidance(){
-    getDistance();
-    const unsigned int frontRight = sensorDistance[0], frontLeft = sensorDistance[1], rear = sensorDistance[2];
-
-    if(avoidObstacle(frontRight) && avoidObstacle(frontLeft)){ //all sensors are blocked car needs to stop and terminate break out of movement
-        if(avoidObstacle(rear)){
-            buzzerTerminate();
-            stop();
-            resetAll();
-            return true;
-        }
-        moveReverse();
-        enteredReverse = true;
-    } else if(avoidObstacle(frontRight)){ //turn right if obstacle detected on right sonar sensor
-        steerLeft();
-        moveForward();
-
-    } else if(avoidObstacle(frontLeft)){ //turn left if obstacle detected on left sonar sensor
-        steerRight();
-        moveForward();
-    } else {
-        resetSteering(); //straighten steering wheel
-        //if previously reversing continue to reverse else move forward
-        if(enteredReverse)
-            moveReverse();
-        else
-            moveForward();
-    }
-    return false;
-}
-
-bool checkColour(){
-    const int waitTime = 2;
-
-    Colour RED = Colour(255,99,71);
-    Colour BLUE = Colour(0,10,255);
-    Colour YELLOW = Colour(255,255,0);
-    Colour GREEN = Colour(0, 128, 0);
-    Colour BLACK = Colour(0, 0, 0);
-
-    Colour currentColour = getColour();
-    currentColour.setColourTolerance(8,8,8); // set room for error for slightly varying versions of the colour
-
-    //notify operator to collect package and wait 60 seconds
-    if(currentColour.equals(BLACK)){
-        stop();
-        for(int i = 0; i<30; ++i)
-            buzzerPackage(); //beeps for 60 seconds to also notify operator
-        resetAll();
-        bluetooth.print("Car has arrived. Please collect package\r\n"); // notify operator that package has arrived at the destination
-        return true;
-    }
-
-    if(currentColour.equals(YELLOW)){
-        steerRight(); //turn right if yellow is detected
-        wait(waitTime);
-    } else if(currentColour.equals(RED)){
-        steerLeft(); //turn left if red is detected
-        wait(waitTime);
-    } else if(currentColour.equals(BLUE) && packageDestination == 1){
-        steerLeft(); // if blue is detected and the package destination is set to one
-
-        wait(waitTime);
-    } else if(currentColour.equals(GREEN) && packageDestination == 2){
-        steerLeft(); //turn left if green is detected and the package destination is set to two
-        wait(waitTime);
-    } else
-        resetSteering();
-
-    moveForward();
-    return false;
-}
-
-int main() {
-    setUpMovement(0.2, -0.2, -0.7);
-    packageDestination = getLocation(); //returns int which correlates to package destination
-
-    while (true){
-        if(checkColour()) // break loop if car has reached package destination
-            break;
-
-        if(obstacleAvoidance()){ //break loop if car is unable to move
-            bluetooth.print("Terminating program - car is stuck!\r\n"); // notify operator that car is stuck
-            break;
-        }
-    }
-
-    bluetooth.print("Rc car has terminated!\r\n"); // notify operator that car has finished its operation
-}