/**
*
* Same function as moveForward but updates and check if there's an error
*
* @param sensor the desired sensor to read and update
* @param centimeters the longest distance the iRobot will move
*/
void moveFowardUpdate(oi_t* sensor, int centimeters){
// if the current state of the iRobot has an error, return
if(errorDetection(0) != 0){
serial_puts("CAN'T MOVE!\n\r\n\r");
return;
}
int millimeters = centimeters * 10;
int sum = 0;
oi_set_wheels(150, 150); // move forward;
while (sum < millimeters) {
// check if there's an error detectiion while moving
// if so, break out the loop and stop
if(errorDetection(0) != 0)
{
char error[30];
sprintf(error, "\n\rSTOPPED DUE TO SENSORS!\n\rMOVED ONLY %02d CM\n\r",
sum/10);
serial_puts(error);
oi_set_wheels(0, 0);
break;
}
sum += sensor->distance;
}
oi_set_wheels(0, 0); // stop
oi_free(sensor);
}
static void destroy ()
{
if (this->data)
oi_free (this->allocated, this->data);
}
