added dist assist

library.properties

@@ -8,4 +8,4 @@ paragraph=You can use Functions to drive and to read out Sensors.
 category=Device Control
 architectures=*
 includes=Elegoo.h
-depends=Servo, IRremote
+depends=Servo, IRremote

src/Bluetooth.cpp

@@ -1,13 +1,5 @@
 #include "Bluetooth.h"
 
-void elegoo::delay(unsigned long time){
-  for(unsigned long i = 0; i < time; i++) {
-    getBTdec();
-    //getIRdec();
-    delay(1);
-  }
-}
-
 unsigned long elegoo::getBT(){
   if(Serial.available()){
     unsigned long val = Serial.read();

src/Elegoo.cpp

@@ -1,5 +1,5 @@
 #include "Elegoo.h"
-
+#include <Servo.h>
 
 //www.elegoo.com
 //2016.09.12
@@ -82,7 +82,8 @@ elegoo::elegoo(int version) {
   pinMode(LineTeacking_Pin_Middle, INPUT);
   pinMode(LineTeacking_Pin_Left, INPUT);
   Servo libServo;
-  //libServo->attach(3);
+  libServo.attach(3);
+  IRbegin();
   //IRrecv irrecv(RECV_PIN);
   //irrecv->begin(RECV_PIN, LED);
 }

src/Elegoo.h

@@ -1,5 +1,5 @@
-#ifndef car_H
-#define car_H
+#ifndef elegoo_H
+#define elegoo_H
 #include <Arduino.h>
 #include <Servo.h>
 
@@ -60,6 +60,7 @@ class elegoo
     void  right();
     void  stop();
     long  getDistance();
+    long  getDistance(int angle);
     void  forwardT(int speed, float time);
     void  backT(int speed, float time);
     void  leftT(int speed, float time);
@@ -78,8 +79,12 @@ class elegoo
     void remote();
     float regler(float ist, float soll, int p_faktor);
     void IRbegin();
+    void keepDistance();
+    void enableKeepDistance();
+    void disableKeepDistance();
+    void setKeepDistance(int val);
   private:
-    Servo  *libServo;
+    Servo *libServo;
     int in1 = 0;
     int in2 = 0;
     int in3 = 0;

src/Sensors.cpp

@@ -1,5 +1,8 @@
 #include "Sensors.h"
 
+bool keepDistanceState = 1;
+int  keepDistanceValue = 10;
+
 long elegoo::getDistance() {
   digitalWrite(trig, LOW);
   delayMicroseconds(5);
@@ -11,6 +14,15 @@ long elegoo::getDistance() {
   return cm;
 }
 
+long elegoo::getDistance(int angle) {
+  libServo->write(angle);
+  return getDistance();
+}
+
+long elegoo::getDistanceReturn(int angle){
+
+}
+
 int elegoo::getLightR(){
   int r = !digitalRead(10);
   return r;
@@ -38,4 +50,36 @@ void elegoo::line(){
     left();
     while(elegoo::getLightL() == 0);
   }
-}
+}
+
+void elegoo::delay(unsigned long time){
+  for(unsigned long i = 0; i < time; i++) {
+    getBTdec();
+    getIRdec();
+    keepDistance();
+    delay(1);
+  }
+}
+
+void elegoo::keepDistance(){
+  if(keepDistanceState){
+    int distance = getDistance();
+    if(distance < keepDistanceValue){
+      stop();
+    }
+  }
+}
+
+void elegoo::enableKeepDistance(){
+  keepDistanceState = 1;
+}
+
+void elegoo::disableKeepDistance(){
+  keepDistanceState = 0;
+}
+
+void elegoo::setKeepDistance(int val){
+  keepDistanceValue = val;
+}
+
+//TODO delay for IRremote