Diff: main.cpp

Revision:

17:961a91037658

Parent:

16:c0b098c83233

Child:

18:96264a9ddaf6

--- a/main.cpp	Thu Oct 31 14:46:56 2019 +0000
+++ b/main.cpp	Thu Oct 31 16:13:21 2019 +0000
@@ -7,6 +7,7 @@
 #include "PID.h"
 #include "motor_state.h"
 
+
 #define PI  3.1415926535898
 
 Serial      pc          (PA_2, PA_3, 115200);
@@ -15,8 +16,8 @@
 
 CMPS03      boussole    (PC_4);
 
-CNY70       ligneD      (PC_3);
-CNY70       ligneG      (PC_2);
+CNY70       right_center      (PC_3);
+CNY70       left_center      (PC_2);
 CNY70       exterior    (PA_7);
 
 VMA306      ultraSon    (PB_15, PA_6, PB_14, PC_7, PB_13, PB_2);
@@ -82,7 +83,12 @@
                 if (ultraSon.readUSB() <= 20) {
                     current_state = SAFEMODE;
                 }
-                if (x<=-2000) current_state = STUPID1;
+                if (left_center.whatAmIOn()== 0)
+                {
+                    led1==1;
+                    motor.resetPosition();
+                }
+                if (x<=-1300) current_state = STUPID1;
                 break;
 
             case BACKWARD :