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Update v1.2

master
cs161079 5 years ago
parent
commit
5fb8fd1fd3
  1. 77
      autonomousCar/autonomousCar.ino

77
autonomousCar/autonomousCar.ino

@ -51,6 +51,9 @@
*/
#define SERVOPIN 6
/*Definition for turn time*/
#define TURN_TIME 500
/*
* -------------------------------------------------------
* Define Servo Data Struct
@ -72,6 +75,7 @@ int pos, dir;
/*
* Turn Servo using custom Speed
*/
/*Function that takes as arguments from->first position and deg->next position */
void turnServo(int from, int deg){
int d;
if (from > deg){
@ -251,29 +255,64 @@ void moveCar(){
}
}
void park() {
turnRight(255);
forward();
delay(TURN_TIME);
motor_stop();
forward();
delay(400);
}
String inString;
void Serial_Input()
{
while (Serial.available() > 0) {
int inChar = Serial.read();
if (isDigit(inChar)) {
// convert the incoming byte to a char and add it to the string:
inString += (char)inChar;
}
// if you get a newline, print the string, then the string's value:
if (inChar == '\n') {
Serial.print("Value:");
Serial.println(inString.toInt());
Serial.print("String: ");
Serial.println(inString);
// clear the string for new input:
inString = "";
}
}
}
void loop() {
// Calculating the distance
distance= getDistance();
//distance= getDistance();
// Prints the distance on the Serial Monitor
//Serial.print("Distance: ");
//Serial.println(distance);
if (distance <15) {
// Change direction to motors
turn(225);
} else if (distance <13){
turn(200);
} else {
// Change direction to motors
turn(MAX_WHEEL_SPEED);
}
if (distance < 6){
motor_stop();
// Set Ultrasonic to next step
next_step();
// Move car
moveCar();
}
delay(100);
// Read serial input:
Serial_Input();
//park();
//delay(1000);
// if (distance <15) {
// // Change direction to motors
// turn(225);
// } else if (distance <13){
// turn(200);
// } else {
// // Change direction to motors
// turn(MAX_WHEEL_SPEED);
// }
// if (distance < 6){
// motor_stop();
// // Set Ultrasonic to next step
// next_step();
// // Move car
// moveCar();
// }
// delay(100);
}

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