From a4925739363f066457a17d4c039bbe93c0311576 Mon Sep 17 00:00:00 2001
From: Evangelos Oulis <cs151051@uniwa.gr>
Date: Sat, 18 Jan 2020 11:30:16 +0200
Subject: [PATCH] Update v1.2

---
 autonomousCar/autonomousCar.ino | 69 +++++++++++++++++++++------------
 1 file changed, 44 insertions(+), 25 deletions(-)

diff --git a/autonomousCar/autonomousCar.ino b/autonomousCar/autonomousCar.ino
index 23de2eb..1b67a78 100644
--- a/autonomousCar/autonomousCar.ino
+++ b/autonomousCar/autonomousCar.ino
@@ -255,37 +255,56 @@ void moveCar(){
   }
 }
 
-void park() {
-  turnRight(255);
+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.
+  
+  while (row > 0) {
+    absolute(255);
+    forward();
+    delay(FORWARD_STEP);
+    motor_stop();
+    
+    r--;
+  }
+  
+  //Check the side value to turn.
+  if (side == 1) {
+    turnRight(255);
+  else {
+    turnLeft(255);
+  }
   forward();
   delay(TURN_TIME);
-  absolute(255);
   motor_stop();
+  
+  absolute(255);
   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 = "";
+
+
+int Serial_Input()
+{
+    int number;
+    if (Serial.available() > 0) {
+		number = Serial.parseInt();
+		while (number <= 0) {
+		  // convert the incoming byte to a char and add it to the string:
+		  number = Serial.parseInt();
+		}
+		
+		// if you get a newline, print the string, then the string's value:
+		
+		Serial.print("Value:");
+		Serial.println(number);
+		// clear the string for new input:
     }
-  }
- }
+  
+    return number;
+}
 
 void loop() {
   // Calculating the distance
@@ -295,8 +314,8 @@ void loop() {
   //Serial.print("Distance: ");
   //Serial.println(distance);
   // Read serial input:
-  Serial_Input();
-  park();
+  
+  park(Serial_Input());
   //delay(1000);
 //  if (distance <15) {
 //    // Change direction to motors