From 64d1597b96a36e65af4c069f98ef12bddcdd0a36 Mon Sep 17 00:00:00 2001
From: ayush1301 <ayush.ag1301@gmail.com>
Date: Fri, 22 Oct 2021 13:32:45 +0100
Subject: [PATCH] Recovery for stuck while going up the ramp
---
main/main.ino | 28 +++++++++++++++++++++++++++-
1 file changed, 27 insertions(+), 1 deletion(-)
diff --git a/main/main.ino b/main/main.ino
index 586a78a..83f7bc9 100644
--- a/main/main.ino
+++ b/main/main.ino
@@ -3,10 +3,13 @@
//General
uint8_t regions[2] = {BACKWARD, FORWARD};
uint8_t regions_opposite[2] = {FORWARD, BACKWARD};
-int region = 0;
+int region = 1;
#define floating_avg_num 3
int button_val = 0;
int button_port = 0;
+int cur_status = 0;
+long cur_loop_count = 0;
+bool status_repeat = false;
//Motors
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
@@ -54,6 +57,29 @@ void loop() {
if (button_val == 0) {
update_IR_vals();
int IR_check_val = IR_check(IR_colours);
+
+ //New code for stuck in a loop
+ if (IR_check_val != 0 && cur_status == IR_check_val) {
+ cur_loop_count += 1;
+ if (cur_loop_count > 800) {
+ Serial.println("RECOVERY CODE");
+ status_repeat = true;
+ }
+ else {
+ status_repeat = false;
+ }
+ }
+ else {
+ status_repeat = false;
+ cur_loop_count = 0;
+ cur_status = IR_check_val;
+ }
+
+ if (status_repeat) {
+ move_both(motors, 255);
+ continue;
+ }
+
if (IR_check_val == 0) {
move_both(motors, 255);
Serial.println("FORWARD");
--
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