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Update Alex.ino #1

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25 changes: 20 additions & 5 deletions Alex.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,11 @@ unsigned long newDist;
unsigned long deltaTicks;
unsigned long targetTicks;

//colour sensor data
int red = 0;
int green = 0;
int blue = 0;

// Ultrasound Pins
int TRIG_PIN = 50;
int ECHO_PIN = 48;
Expand Down Expand Up @@ -121,9 +126,10 @@ void sendStatus()
TPacket statusPacket;
statusPacket.packetType = PACKET_TYPE_RESPONSE;
statusPacket.command = RESP_STATUS;
uint32_t inputParams[10] = {leftForwardTicks,rightForwardTicks,leftReverseTicks,rightReverseTicks,
leftForwardTicksTurns,rightForwardTicksTurns,leftReverseTicksTurns,rightReverseTicksTurns,forwardDist,reverseDist};
for (int i =0; i < 10; i++){
uint32_t inputParams[13] = {leftForwardTicks,rightForwardTicks,leftReverseTicks,rightReverseTicks,
leftForwardTicksTurns,rightForwardTicksTurns,leftReverseTicksTurns,rightReverseTicksTurns,forwardDist,reverseDist,
red,green,blue};
for (int i =0; i < 13; i++){
statusPacket.params[i] = inputParams[i];
}
sendResponse(&statusPacket);
Expand Down Expand Up @@ -359,6 +365,12 @@ void clearCounters()
reverseDist=0;
}

void clearColorCounters(){
red = 0;
green = 0;
blue = 0;
}

// Clears one particular counter
void clearOneCounter(int which)
{
Expand Down Expand Up @@ -440,6 +452,9 @@ void handleCommand(TPacket *command)
case COMMAND_COLOR_SENSOR:
sendOK();
//PLACEHOLDER FOR COLOR SENSOR FUNCTION
sendStatus();
clearColorCounters();
break;
default:
sendBadCommand();
}
Expand Down Expand Up @@ -489,7 +504,7 @@ void setupUltra() {
}

float getDistance() {
digitalWrite(TRIG_PIN, HIGH );
digitalWrite(TRIG_PIN, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG_PIN , LOW);
unsigned long microsecs = pulseIn(ECHO_PIN, HIGH);
Expand Down Expand Up @@ -565,7 +580,7 @@ void loop() {
if(dir==FORWARD)
{
wallDist = getDistance()
if(forwardDist > newDist || wallDist > 5)
if(forwardDist > newDist || (wallDist != 0 && wallDist < 5))
{
deltaDist=0;
newDist=0;
Expand Down