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28 lines
673 B
28 lines
673 B
function [state] = CliffRightSensorRoomba(serPort);
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%[state] = CliffRightSensorRoomba(serPort)
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% Specifies the state of the cliff right sensor
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% Either triggered or not triggered
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% By; Joel Esposito, US Naval Academy, 2011
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%Initialize Preliminary return values
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state = nan;
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try
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%Flush Buffer
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N = serPort.BytesAvailable();
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while(N~=0)
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fread(serPort,N);
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N = serPort.BytesAvailable();
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end
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warning off
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global td
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fwrite(serPort, [142]); fwrite(serPort,12);
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CliffRight = dec2bin(fread(serPort, 1));
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state = bin2dec(CliffRight(end));
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pause(td)
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catch
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disp('WARNING: function did not terminate correctly. Output may be unreliable.')
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end
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