tnkrjrf

1 files changed, 10 insertions, 5 deletions

diff --git a/robot/mode_maze.c b/robot/mode_maze.c
index eb75e3c..0350205 100644
--- a/robot/mode_maze.c
+++ b/robot/mode_maze.c
@@ -6,6 +6,8 @@
 unsigned int g_w2_last_proportional = 0;
 long g_w2_integral					= 0;
 
+
+//main function for maze mode
 void w2_mode_maze() {
 	// PID controller
 	g_w2_position	 = read_line(g_w2_sensors, IR_EMITTERS_ON);
@@ -20,14 +22,17 @@ void w2_mode_maze() {
 	if (power_difference < -max) power_difference = -max;
 
 	if (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 &&
-		g_w2_sensors[3] < 100 && g_w2_sensors[4] < 100) {
+		g_w2_sensors[3] < 100 && g_w2_sensors[4] < 100) { //dead ends
 		w2_crosswalk_stroll();
-	} else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 &&
-			   g_w2_sensors[3] >= 250 && g_w2_sensors[4] >= 500) {
+	} 
+	else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 250 && g_w2_sensors[2] >= 500 &&
+			   g_w2_sensors[3] >= 250 && g_w2_sensors[4] >= 500) {	//crossways or intersection
 		w2_maze_rotation_half_left();
-	} else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 200 && g_w2_sensors[4] < 100) {
+	} 
+	else if (g_w2_sensors[0] >= 500 && g_w2_sensors[1] >= 200 && g_w2_sensors[4] < 100) {	//left corners
 		w2_maze_rotation_half_left();
-	} else {
+	} 
+	else {		//normal line following
 		if (power_difference < 0 &&
 			(g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100))
 			set_motors(max + power_difference, max);