Diff: main.cpp

Revision:

4:5dd60bfc3cdd

Parent:

3:68fe5b9e069a

Child:

5:de5b38436960

--- a/main.cpp	Thu Oct 16 06:18:14 2014 +0000
+++ b/main.cpp	Fri Oct 24 08:27:19 2014 +0000
@@ -14,8 +14,11 @@
     A0, A1, A2, A3, A4 // Sensors pins (all DigitalIn)
 );
 
+// Disable the feature by wiring A5 to GND
+DigitalIn ReadSensorsEnabled(A5, PullUp);
+
 // Enable it for debugging on hyperterminal
-#define DEBUG 1
+#define DEBUG 0
 #if DEBUG == 1
 Serial pc(PC_10, PC_11);
 #define PC_DEBUG(args...) pc.printf(args)
@@ -104,10 +107,10 @@
     bot.right(speed);
     wait(0.2);
     bot.stopAll();
-
+    
     while (1) {
         // Stop the motors if a sensor has detected something.
-        if (!bot.rightSensor || !bot.inRightSensor || !bot.centreSensor || !bot.inLeftSensor || !bot.leftSensor)
+        if ((!bot.rightSensor || !bot.inRightSensor || !bot.centreSensor || !bot.inLeftSensor || !bot.leftSensor) && ReadSensorsEnabled)
         {
             if (!stop) bot.stopAll();
             stop = 1;