wallfollowertest.cpp

#include <iostream>
#include "wallfollower.cpp"

int running=1;
void sig_handler(int signo)
{
    if (signo == SIGINT) {
        printf("closing PWM nicely\n");
        running = 0;
    }
};

int main(){
	signal(SIGINT, sig_handler);
	Motor* left = new Motor(0,2,4,false);
	Motor* right = new Motor(4,6,2,true);
	Location* location = new Location(0.0,0.0,0.0);
	IR* irf = new IR(0);
	IR* irr = new IR(1);
	IR* irb = new IR(2);
	IR* irlf = new IR(4);
	IR* irlb = new IR(3);
	wf = new Wallfollower(left,right,irlf,irlb,irr,irf,irb,location);
	Locating* lct = new Locating();
	lct->setup_startpoint;
	int channel=1;
	bool localized = false;
	while(running &&!localized) {
		channel = wf->run_follower(channel);
		lct->channel_switch(wf->locating_channel());
		lct->data(wf->data());
		localized = !lct->decision();
	} 
	Location* current = lct->get_location();
}
	
	
};