Diff: main.cpp

Revision:

1:80c2ef16a42f

Parent:

0:fbceffb594b6

--- a/main.cpp	Thu Jul 14 12:58:48 2016 +0000
+++ b/main.cpp	Mon Jul 18 10:00:29 2016 +0000
@@ -1,39 +1,64 @@
+/*
+*RenBuggy_Ultrasonic
+*
+*A Program that allows the RenBuggy to avoid obstacles using two HC-SR04
+*ultrasonic modules.
+*
+*Copyright (c) 2016 Elijah Orr
+
+*Permission is hereby granted, free of charge, to any person obtaining a copy 
+*of this software and associated documentation files (the "Software"), to deal
+*in the Software without restriction, including without limitation the rights 
+*to use, copy, modify, merge, publish, distribute, sublicense, and/or sell    
+*copies of the Software, and to permit persons to whom the Software is        
+*furnished to do so, subject to the following conditions:                     
+                                                                             
+*The above copyright notice and this permission notice shall be included in   
+*all copies or substantial portions of the Software.                          
+                                                                             
+*THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR   
+*IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,     
+*FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE  
+*AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER       
+*LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+*OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN    
+*THE SOFTWARE.
+*/
+
+//include files - mbed library and our ultrasonic library
 #include "mbed.h"
 #include "ultrasonic_buggy.h"
-//#include "USBSerial.h"
 
-//USBSerial serial;
-
-
+//The main function is where the program will begin to execute
 int main(){
     
+    //create two floating point vairables to store distance readings in
     float left_distance;
     float right_distance;
+    //call the stop function to make sure buggy is stationary
     stop();
+    //wait for some setup time
     wait(5);
-    //serial.printf("PROGRAM START\n\r");
+    //the code in this while loop will always execute and will repeat forever
     while(1){
         
-        
-        //wait(1);
-        
+        //take a distance reading from each of the sensors
         left_distance = getDistance_l();
         right_distance = getDistance_r();
         
-        //if((left_distance > 0.3) && (right_distance > 0.3)){
-        //serial.printf("left distance = %f   right distance = %f\n\r", left_distance, right_distance);
-            /* if(left_distance > right_distance){
-                left(0.1);
-            }
-            else if(right_distance > left_distance){
-                right(0.1);
-            }
+        //if there is an object on the left, turn right
+        if(left_distance < 0.4){
+          right(0.1);
         }
-        
+        //else if there is an object on the right, turn left
+        else if(right_distance < 0.4){
+            left(0.1);
+        }
+        //else move forwards
         else{
-            right(3);
-        }*/
-        
+            forward(0.1);
+        }
+        //code loops back to start of while loop
     }
 }