Revision 3:4284d7cdb68e, committed 2015-06-04

Comitter:

bbabbs

Date:

Thu Jun 04 12:18:04 2015 +0000

Parent:

2:2d147091491d

Commit message:

for bluetooth

Changed in this revision

--- a/Robot-bae8eb81a9d7/main.cpp	Thu Jun 04 11:57:24 2015 +0000
+++ b/Robot-bae8eb81a9d7/main.cpp	Thu Jun 04 12:18:04 2015 +0000
@@ -39,7 +39,7 @@
 
     
     int Run = 1;
-    string blah[36] = {"", "LRRL", "SSRL", "RLSRL", "RLLLRSRLL", "LRLL",
+    string blah[36] = {"", "LRRL", "SSRL", "RLSRL", "RLLLRSRLLR", "LRLL",
                     "RLLR", "", "SSR", "RLRR", "RLLRLSR", "LRSLR",
                     "RLSS", "LLS", "", "RR", "RLSLR", "LRSSS",
                     "RLSRL", "LLRL", "LL", "", "RLSS", "RLRLS",
@@ -55,14 +55,16 @@
 
     time_wait.start();
     
-    turns = blah[(4-1)*6+(2-1)];
+
     while(Run) {
         time_wait.reset();
         //Get raw sensor values
         
         robot.calibrated_sensor(x);
 
+        //insert end and beginning locations
 
+        turns = blah[(end-1)*6+(start-1)];
 
         //Check to make sure battery isn't low
         if (robot.battery() < 2.4) {
@@ -83,7 +85,7 @@
                 previous_pos = 0;
                 robot.stop();
                 //wait(1);
-                 while(/*x[0] > 300 &&*/ x[2] > 300){
+                 while(x[2] > 300){
                     turnLeft();
                     robot.calibrated_sensor(x);
                 }
@@ -101,8 +103,12 @@
             else if(turns.at(direction) == 'R'){
                 previous_pos = 0;
                 robot.stop();
+                while(x[4] > 300){
+                    goStraight();
+                    robot.calibrated_sensor(x);
+                }
                 //wait(1);
-                while(x[4] > 300 && x[2] > 300){
+                while(x[2] > 300){
                     turnRight();
                     robot.calibrated_sensor(x);
                 }