Revision 24:b797563776fc, committed 2014-12-07

Comitter:

lsaristo

Date:

Sun Dec 07 09:36:59 2014 +0000

Parent:

23:e4616259a7f0

Child:

25:2c7717684d09

Commit message:

Changed turning functions to allow negative arguments

Changed in this revision

--- a/main.c	Sun Dec 07 05:55:38 2014 +0000
+++ b/main.c	Sun Dec 07 09:36:59 2014 +0000
@@ -56,7 +56,6 @@
     // Basic setup information
     start_button.mode(PullUp);
         
-    start:
     pi.cls();
     pi.locate(0,0);
     pi.printf("PiCO");
@@ -69,7 +68,7 @@
         pi.locate(0,0);
         pi.printf("Ready");
         oled_2 = 0;
-    } /**/
+    } */
     pi.cls();
     pi.locate(0,0);
     // pi.printf("GO!");
@@ -84,11 +83,10 @@
             goto calibrate;    
         }
     }
-    /**/
+    */
         
     //
     // Drawing environment calibration.
-    int cal_count = 1;
     pi.sensor_auto_calibrate();
     //pi.backward(DRIVE_SPEED);
     float   pos         = 0;
@@ -126,7 +124,7 @@
         goto calibrate;
         return 1;
     }
-    /**/
+    */
     
     // wait(1);
     
@@ -211,7 +209,7 @@
         pi.printf("p:%f", pos);
         pos = pi.line_position();
     } while (pos != -1 && pos >= -0.25);
-    /**/
+    */
     backward(500);
     timerWait(.5);
     while(fabs(pos = pi.line_position()) > CLOSE_ENOUGH) {
@@ -247,7 +245,7 @@
         pos = pi.line_position();
         timerWait(.2);
     }
-    /**/
+    */
     timerWait(1);
     //
     // Pivot 180 degrees to go to the starting position.
@@ -281,7 +279,7 @@
         pi.printf("lP:%f", pos);
         return 1;
     }
-    /**/
+    */
     /*
     while(pi.line_position() == 1);
     do {
@@ -504,6 +502,9 @@
 
 int right(float deg)
 {
+    if(deg < 0) {
+        return left(-1*deg);
+    }
     Timer t;
     oled_4 = 1;
     pi.locate(0,0);
@@ -527,6 +528,9 @@
 
 int left(float deg)
 {
+    if(deg < 0) {
+        return right(-1*deg);
+    }
     Timer t;
     oled_4 = 1;
     oled_2 = 1;