Central sensor is now being used in the main code.

robotcraft_bot/robotcraft_bot.ino

@@ -9,11 +9,12 @@ long int myrate = 500;
 void setup() {
   // start serial port for debugging
   Serial.begin(9600);
+
+  
   
 }
 
 void loop() {
-
   // main loop goes here
   while(loop_rate()){
     switch(state){
@@ -39,7 +40,7 @@ void loop() {
 
 int LOST(){
   float *range = myrobot.getIRranges();
-  if ((range[0] >= 20) && (range[2] >= 20)){
+  if ((range[0] >= 20) && (range[1] >= 20) && (range[2] >= 20)){
     int pwm[2] = {150,150};
     myrobot.moveRobot(pwm);
   }
@@ -50,7 +51,7 @@ int LOST(){
 
 int CCW(){
   float *range = myrobot.getIRranges();
-  if ((range[0] < 20) || (range[2] < 20)){
+  if ((range[0] < 20) || (range[1] < 20) || (range[2] < 20)){
     int pwm[2] = {-150,150};
     myrobot.moveRobot(pwm);
   }
@@ -61,7 +62,7 @@ int CCW(){
 
 int WALL1(){
   float *range = myrobot.getIRranges();
-  if (range[2] >= 20){
+  if ((range[1] >= 20) && (range[2] >= 20)){
     int pwm1[2] = {150,150};
     myrobot.moveRobot(pwm1);
     delay(myrate);