Diff: main.cpp

Revision:

2:26a9f90142a0

Parent:

0:5919ea7b3b90

--- a/main.cpp	Tue Jun 21 07:46:37 2016 +0000
+++ b/main.cpp	Tue Jun 21 09:19:17 2016 +0000
@@ -23,7 +23,8 @@
 int po=0;
 int pi=0;
 Timer t, t_sonar;
-float distance;
+long distance;
+
  
 //*************** Funkcja czyszczaca bufor *****************
 void cleanBuffer(char *buffor)
@@ -146,17 +147,18 @@
     int i = 0;
     cleanBuffer(bufor);
     stm.baud(115200);
+    t_sonar.start();
     while(true){
         if(t.read_ms()>200){ //jesli przez ponad 200ms nie ma nowej ramki, zatrzymujemy robota
             eng_left.move(0);
             eng_right.move(0);
             }
         if(t_sonar.read_ms()>1200){
+            distance = sensor.distance(); 
+            stm.printf("dystans  %d  \n",distance);
             t_sonar.stop();
             t_sonar.reset();
             t_sonar.start(); 
-            distance = sensor.distance(); 
-            stm.printf("dystans  %d  \n",distance);  
             }
         if(bufor[9] == NULL){
             bufor[i] = stm.getc();