Revision 3:74dfce05dd99, committed 2015-01-14

Comitter:

SeanDoyle

Date:

Wed Jan 14 16:57:41 2015 +0000

Parent:

2:8415bea33a95

Child:

4:2b47356f4b7d

Commit message:

Tidied code, fixed issue for no optimal angle

Changed in this revision

--- a/nervousPuppy.cpp	Tue Jan 13 16:08:22 2015 +0000
+++ b/nervousPuppy.cpp	Wed Jan 14 16:57:41 2015 +0000
@@ -12,35 +12,25 @@
             scared = true;
             playerError = playerDistance - SCARED;
             
-            if(calculateVerticalAdjustment() != 0)changePosition("tilt",calculateVerticalAdjustment());
-            else changePosition("rotate",calculateHorizontalAdjustment());
+            if(calculateAngle("Vertical") != 0)changePosition("tilt",calculateAngle("Vertical"));
+            else if(calculateAngle("Horizontal") != 0)changePosition("rotate",calculateAngle("Horizontal"));
+            else isRunning = false;
+            
             scared = false;
         } else if(isLonely()){// MoveForward
             lonely = true;
             playerError = playerDistance - LONELY;
             
-            if(calculateVerticalAdjustment() !=0)changePosition("tilt",calculateVerticalAdjustment());
-            else changePosition("rotate",calculateHorizontalAdjustment());
+            if(calculateAngle("Vertical") !=0)changePosition("tilt",calculateAngle("Vertical"));
+            else if(calculateAngle("Horizontal") != 0)changePosition("rotate",calculateAngle("Horizontal"));
+            else isRunning = false;
+            
             lonely = false;
         }
     }
 }
 
 /**
- * Returns the vertical adjustment
- */
-float nervousPuppy::calculateVerticalAdjustment(){
-    return calculateAngle("Vertical");
-}
-
-/**
- * Returns the horizontal adjustment
- */
-float nervousPuppy::calculateHorizontalAdjustment(){
-    return calculateAngle("Horizontal");
-}
-
-/**
  * Calculates the angle required to bring the 'puppy' to a 'safe distance'
  * Returns 0 if it cannot find a 'safe distance'
  */

--- a/nervousPuppy.h	Tue Jan 13 16:08:22 2015 +0000
+++ b/nervousPuppy.h	Wed Jan 14 16:57:41 2015 +0000
@@ -20,8 +20,6 @@
         float getPlayerDistance();
         void setPlayerDistance(float dist);
         
-        float calculateVerticalAdjustment();
-        float calculateHorizontalAdjustment();
         float calculateAngle(string axis);
         void changePosition(string servo,float angle);