Added more conditions, i.e., Junction ramps (good)

main/main.ino

@@ -4,7 +4,7 @@
 uint8_t regions[2] = {BACKWARD, FORWARD};
 uint8_t regions_opposite[2] = {FORWARD, BACKWARD}; 
 int region = 1;
-#define floating_avg_num 1
+#define floating_avg_num 3
 int button_val = 0;
 int button_port = 0;
 
@@ -18,7 +18,7 @@ Adafruit_DCMotor *motors[] = {AFMS.getMotor(3), AFMS.getMotor(4)};
 #define white 1
 #define black 0
 #define num_IR 4
-int IR_threshold[num_IR] = {200, 200, 1024, 1024};
+int IR_threshold[num_IR] = {300, 300, 300, 300};
 float IR_avgs[num_IR] = {0}; //LRFB
 int IR_colours[num_IR] = {0};
 int IR_locns[num_IR] = {A0, A3, A1, A2};
@@ -66,12 +66,28 @@ void loop() {
         move_one_motor(motors, 200, right);
         Serial.println("TURN RIGHT");
       }
+      else if (IR_check_val == 3) {
+        Serial.println("Junction");
+      }
+      else if (IR_check_val == 4) {
+        Serial.println("Ramp off");
+      }
+      else if (IR_check_val == 5) {
+        Serial.println("Ramp on");
+      }
       else {
         Serial.println("Else block fml");
+        /*
         for(int j = 0; j < 2; j++) {
           motors[j]->setSpeed(0);
         }
-        while (1);
+        */
+        for(int j = 0; j < num_IR; j++) {
+          Serial.print(IR_avgs[j]);
+          Serial.print(" -> ");
+        }
+        Serial.println();
+        //while (1);
       }
       button_val = digitalRead(button_port);
     }
@@ -111,9 +127,18 @@ int IR_check(int LRFB[]) {
   else if (LRFB[0] == black && LRFB[1] == white) {
     return 2;
   }
-  else {
+  else if (LRFB[0] == white && LRFB[1] == white && LRFB[2] == white && LRFB[3] == white) {
     return 3;
   }
+  else if (LRFB[0] == black && LRFB[1] == black && LRFB[2] == white && LRFB[3] == black) {
+    return 4;
+  }
+  else if (LRFB[0] == black && LRFB[1] == black && LRFB[2] == black && LRFB[3] == white) {
+    return 5;
+  }
+  else {
+    return 6;
+  }
 }
 
 void update_IR_vals() {