Diff: main.cpp

Revision:

10:168a1b176c77

Parent:

9:6d663bdfee7c

Child:

11:0fd03f66af0d

diff -r 6d663bdfee7c -r 168a1b176c77 main.cpp
--- a/main.cpp	Wed Oct 10 07:48:36 2012 +0000
+++ b/main.cpp	Wed Oct 10 08:22:18 2012 +0000
@@ -69,8 +69,6 @@
 
         switch(dir){
             case Forward:
-                 //if(stable[0][0]<35||stable[0][1]<35)||stable[1][0]<35||stable[1][1]<35); NorthOn=0;
-                
                 if ((avgFront<35&&stable[4][0]<35&&stable[4][1]<35)/*&&stable[4][2]<35&&stable[4][3]<35)*/||
                     (diagLeft<35&&stable[2][0]<35&&stable[2][1]<35/*&&stable[2][2]<35&&stable[2][3]<35)*/
                     /*(avgLeft<40&&stable[0][0]<40&&stable[0][1]<40&&stable[0][2]<40&&stable[0][3]<40)*/))
@@ -92,10 +90,8 @@
                     NorthOn=0;
                     dir=Left;
                 }
-                else if(
-                (((globalDir > 30 && globalDir <= 180)||(globalDir > 180 && globalDir <= 330)&&NorthOn)
-         )
-                )
+                else if(((globalDir > 30 && globalDir <= 180)||(globalDir > 180 && globalDir <= 330))&&NorthOn)
+                
                 {
                             right.speed(0);
                             left.speed(0);
@@ -103,6 +99,8 @@
                 }
                 else {right.speed(0.95); left.speed(1);
                 printf("CHARGE!\n\r");
+                if((avgLeft<35&&stable[0][0]<35&&stable[0][1]<35)
+                   &&(avgRight<35&&stable[1][0]<35&&stable[1][1]<35)) NorthOn=1;
                 }
             break;
             case Right:
@@ -150,6 +148,17 @@
             break;
             case TurnNorth:
                 printf("TO THE NORTH!\n\r");
+                if(
+                   (avgLeft<35||stable[0][0]<35||stable[0][1]<35)
+                   ||
+                   (avgRight<35||stable[1][0]<35||stable[1][1]<35)
+                   ||
+                   (diagLeft<35||stable[2][0]<35||stable[2][1]<35)
+                   ||
+                   (diagRight<35||stable[3][0]<35||stable[3][1]<35)
+                   ||
+                   (avgFront<35||stable[4][0]<35||stable[4][1]<35)
+                              
                 if (globalDir>330 || globalDir < 30)
                 {
                     //It's going north!!