#26 Backward Distance function

Mokashaa · Jul 3, 2018 · 724dce9 · 724dce9
1 parent 0140e27
commit 724dce9
Showing 1 changed file with 18 additions and 0 deletions.
diff --git a/Software/DistanceMeasuring/Backward Distance Function b/Software/DistanceMeasuring/Backward Distance Function
@@ -0,0 +1,18 @@
+
+void BackwardDistance (int a) 
+{
+     int PulsesNeeded = a*0.9794*2;
+     PulsesNeeded = floor(PulsesNeeded);
+     counter = 0;
+     while(counter < PulsesNeeded - 4 ){
+      Backward(120);
+      stateNew = digitalRead(Pin);
+      if (stateNew != stateOld){
+        stateOld = stateNew;
+        counter ++;
+        } 
+      } 
+      Forward(150);
+      delay(20);
+      Stop();
+}