From 0c6d78ab902373d654ca15643c324485cea068a6 Mon Sep 17 00:00:00 2001
From: cs161079 <cs161079@uniwa.gr>
Date: Mon, 20 Jan 2020 14:17:47 +0200
Subject: [PATCH] Update v1.1

---
 autonomousCar/autonomousCar.ino | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/autonomousCar/autonomousCar.ino b/autonomousCar/autonomousCar.ino
index 1b67a78..37c1700 100644
--- a/autonomousCar/autonomousCar.ino
+++ b/autonomousCar/autonomousCar.ino
@@ -259,14 +259,15 @@ void park(int parkingNo) {
   int row = (parkingNo / 2) + 1;
   int side = (parking % 2)  //If side is 1 then the parking is to right
                             // else if is 0 the parking is to left.
+  distance= getDistance(); //take the distance from ultrasonic sensor
   
-  while (row > 0) {
+  while (row > 1) {
     absolute(255);
     forward();
     delay(FORWARD_STEP);
     motor_stop();
     
-    r--;
+    row--;
   }
   
   //Check the side value to turn.
@@ -278,11 +279,12 @@ void park(int parkingNo) {
   forward();
   delay(TURN_TIME);
   motor_stop();
-  
-  absolute(255);
-  forward();
 
-  delay(400);
+  while(distance<10){
+    absolute(255);
+    forward();  
+  }
+  motor_stop();
 }