Diff: main.cpp

Revision:

14:a30aa3b29a2e

Parent:

12:925f52da3ba9

Child:

15:b10859606504

diff -r c2d14bf733a5 -r a30aa3b29a2e main.cpp
--- a/main.cpp	Thu Feb 27 00:38:13 2014 +0000
+++ b/main.cpp	Fri Mar 07 21:49:22 2014 +0000
@@ -1,18 +1,40 @@
 #include "mbed.h"
 #include "dbgprint.h"
 #include "robot.h"
+#include "hcsr04.h"
 
 BusOut leds(LED_RED,LED_GREEN,LED_BLUE);
 Serial pc(USBTX, USBRX);
 
 robot bot;
+
+/*
+//actual competition code, kinda
+int firstSection(){  // drive forward and measure distance
+    tmpOut = bot.absDriveForward(targetAngle,3000);
+    // ping sensor
+    tmpOut = bot.absDriveForward(targetAngle,3000);
+    // ping sensor
+}
+int secondsection(){
+    // second step
+    // etc
+}
+*/
+
 int main() {
-    DBGPRINT("AA\n\r",1);
+    // Initialize variables
+    leds = 0x2;
     char tmpchar = 0;
-    leds = 0x2;
-    const int* constbuf;
+    const int* constbuf;  // displays values
     int tmpOut;
     double targetAngle=0.0;
+    DBGPRINT("AA\n\r",1);  // to see if robot powers up at least
+    
+    // Initialize sensors
+    //hcsr04(2,1) : trigger_out(trigger);
+    
+    // Loop
     while(1) {
         DBGPRINT("BB\n\r",1);
         leds = leds^0x7; // toggle the LEDs for each loop
@@ -109,8 +131,11 @@
                 DBGPRINT("dfac = %f\r\n",bot.dfac);
                 break;
             case 'i':
-                bot.angfac*=2;
-                DBGPRINT("angfac = %f\r\n",bot.angfac);
+                //put distance ping here
+                bot.pingLeft.trigger();
+                wait(1);
+                float pingresult = bot.pingLeft.inches();
+                DBGPRINT("Distance = %f\r\n",pingresult);
                 break;
             case 'k':
                 bot.angfac/=2;