added push button code

main/main.ino

@@ -5,6 +5,8 @@ uint8_t regions[2] = {BACKWARD, FORWARD};
 uint8_t regions_opposite[2] = {FORWARD, BACKWARD}; 
 int region = 1;
 #define floating_avg_num 1
+int button_val = 0;
+int button_port = 0;
 
 //Motors
 Adafruit_MotorShield AFMS = Adafruit_MotorShield();
@@ -37,6 +39,7 @@ void setup() {
   for(int i=0; i< num_IR; i++) {
     pinMode(IR_locns[i], INPUT);
   }
+  pinMode(button_port, INPUT);
 }
 
 void loop() {
@@ -48,22 +51,29 @@ void loop() {
     motors[j]->run(regions[region]);
   }
   while (true) {
-    update_IR_vals();
-    int IR_check_val = IR_check(IR_colours);
-    if (IR_check_val == 0) {
-      move_both(motors, 255);
-      Serial.println("FORWARD");
-    }
-    else if (IR_check_val == 1) {
-      move_one_motor(motors, 200, left);
-      Serial.println("TURN LEFT");
-    }
-    else if (IR_check_val == 2) {
-      move_one_motor(motors, 200, right);
-      Serial.println("TURN RIGHT");
+    if (button_val == 0) {
+      update_IR_vals();
+      int IR_check_val = IR_check(IR_colours);
+      if (IR_check_val == 0) {
+        move_both(motors, 255);
+        Serial.println("FORWARD");
+      }
+      else if (IR_check_val == 1) {
+        move_one_motor(motors, 200, left);
+        Serial.println("TURN LEFT");
+      }
+      else if (IR_check_val == 2) {
+        move_one_motor(motors, 200, right);
+        Serial.println("TURN RIGHT");
+      }
+      else {
+        Serial.println("Else block fml");
+      }
+      button_val = digitalRead(button_port);
     }
     else {
-      Serial.println("Else block fml");
+      Serial.println("Button pushed. Exiting");
+      while (1);
     }  
   }
 }