Update v1.2

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);
-
+  // Read serial input:
-  if (distance <15) {
+  Serial_Input();
-    // Change direction to motors
+  //park();
-    turn(225);
+  //delay(1000);
-  } else if (distance <13){
+//  if (distance <15) {
-    turn(200);
+//    // Change direction to motors
-  } else {
+//    turn(225);
-    // Change direction to motors
+//  } else if (distance <13){
-    turn(MAX_WHEEL_SPEED);
+//    turn(200);
-  }
+//  } else {
-  if (distance < 6){
+//    // Change direction to motors
-    motor_stop();
+//    turn(MAX_WHEEL_SPEED);
-    // Set Ultrasonic to next step
+//  }
-    next_step();
+//  if (distance < 6){
-    // Move car
+//    motor_stop();
-    moveCar();
+//    // Set Ultrasonic to next step
-  }
+//    next_step();
-  delay(100);
+//    // Move car
+//    moveCar();
+//  }
+//  delay(100);
 }