Revision 1:2db3ccba18c8, committed 2015-06-03

Comitter:

charwhit

Date:

Wed Jun 03 14:29:48 2015 +0000

Parent:

0:0f96a93fbf39

Child:

2:2d147091491d

Commit message:

I think this works?

Changed in this revision

--- a/Robot-bae8eb81a9d7/main.cpp	Wed Jun 03 13:32:30 2015 +0000
+++ b/Robot-bae8eb81a9d7/main.cpp	Wed Jun 03 14:29:48 2015 +0000
@@ -39,9 +39,15 @@
 
     
     int Run = 1;
-    vector< vector<string> > Lookup(6, vector<string>(6));
+    string blah[36] = {"", "LRRL", "SSRL", "RLSRL", "RLLLRSRLL", "LRLL",
+                    "RLLR", "", "SSR", "RLRR", "RLLRLSR", "LRSLR",
+                    "RLSS", "LLS", "", "RR", "RLSLR", "LRSSS",
+                    "RLSRL", "LLRL", "LL", "", "RLSS", "RLRLS",
+                    "RRSRR", "LSRLRRL", "LRSRL", "SSRL", "", "RLRRRL",
+                    "RRR", "LRSLR", "SSSLR", "SRLL", "RLLLRL", ""};
+    //vector< vector<string> > Lookup(6, vector<string>(6));
     
-    Lookup[1][4] = "LLS";
+    //Lookup[1][2] = "LLS";
     
 
     
@@ -49,7 +55,7 @@
 
     time_wait.start();
     
-    turns = Lookup[0][1];
+    turns = blah[(3-1)*6+(2-1)];
     while(Run) {
         time_wait.reset();
         //Get raw sensor values
@@ -65,37 +71,48 @@
         }
 
         
-    
+        
         if((x[0]>300 || x[4]>300) && (direction < turns.size()) && !passed) {
             
+            
             if(turns.at(direction) == 'L'){
+                previous_pos = 0;
                 robot.stop();
-                wait(1);
+                //wait(1);
                 turnLeft();
                 robot.stop();
+                //continue;
+                /*wait(1);
                 goStraight();
-                wait(1);
+                wait(1);*/
             }
             else if(turns.at(direction) == 'R'){
+                previous_pos = 0;
                 robot.stop();
-                wait(1);
+                //wait(1);
                 turnRight();
                 robot.stop();
+                
+                /*wait(1);
                 goStraight();
-                wait(1);
+                wait(1);*/
             }
             else{
                 robot.stop();
                 wait(1);
                 goStraight();
-                wait(1);
+                //wait(1);
             }
-            robot.printf("Size: %d", direction);
+            robot.cls();
+            robot.printf("Size %d", direction);
             ++direction;
-            robot.calibrated_sensor(x);
+            passed = true;
+            continue;
         }
         else if (x[0]>300 || x[4]>300 && direction >= turns.size()){
             robot.stop();
+            robot.cls();
+            robot.printf("Try again");
             break;
         }
         else if (x[0]>300 || x[4]>300 && passed)
@@ -146,14 +163,14 @@
 
     robot.stop();
 
-    char hail[]= {'V','1','5','O','4','E','4','C','8','D','8','E','8','C','8','D','8'
+    /*char hail[]= {'V','1','5','O','4','E','4','C','8','D','8','E','8','C','8','D','8'
                   ,'E','8','F','4','D','8','E','8','F','8','D','8','E','8','F','8','G'
                   ,'4','A','4','E','1','6','E','1','6','F','8','C','8','D','8','E','8'
                   ,'G','8','E','8','D','8','C','4'
                  };
     int numb = 59;
 
-    robot.playtune(hail,numb);
+    robot.playtune(hail,numb);*/
 
 
 }
@@ -162,7 +179,7 @@
 void turnRight(){
     Timer turner;
     turner.start();
-    while (turner.read_ms() < 105){
+    while (turner.read_ms() < 130){
             robot.right(.5);
     }
     turner.stop();
@@ -171,7 +188,7 @@
 void turnLeft(){
     Timer turner;
     turner.start();
-    while (turner.read_ms() < 105){
+    while (turner.read_ms() < 130){
             robot.left(.5);
     }
     turner.stop();
@@ -180,7 +197,7 @@
 void goStraight(){
     Timer turner;
     turner.start();
-    while (turner.read_ms() < 50){
+    while (turner.read_ms() < 25){
             robot.forward(.5);
     }
     turner.stop();