Gruppe 3
/
PES1
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Revision 26:c2f7c6cdeece, committed 2017-05-01
- Comitter:
- Shukle
- Date:
- Mon May 01 15:37:23 2017 +0000
- Parent:
- 25:a50ca6f2eca4
- Commit message:
- final vom 1.5.2017
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| readCamera.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon May 01 14:02:35 2017 +0000
+++ b/main.cpp Mon May 01 15:37:23 2017 +0000
@@ -81,9 +81,9 @@
case 2:
printf("2");
- if(time1 < 20) { // Im Kreis drehen für 1s
- pwmL = 0.4f;
- pwmR = 0.4f;
+ if(time1 < 40) { // Im Kreis drehen für 1s
+ pwmL = 0.45f;
+ pwmR = 0.45f;
time1 ++;
state = 1;
tempState = 2;
@@ -116,25 +116,25 @@
case 4: // Roboter erkennt gründer Klotz, Klotz wird angefahren
printf("4");
- double maxWert = 0.1; // Maximale Werte für die pmL und pmR
+ double maxWert = 0.05; // Maximale Werte für die pmL und pmR
roboter1.bandeAusweichen();
if(camValue >= 100 && camValue <200 ) { // links fahren, wenn wir Werte von 100 bis 199 haben
camValue = camValue -99.0;
double speedValue = camValue * (maxWert /100.0);
- pwmL = 0.45f - speedValue;
- pwmR = 0.45f - speedValue;
+ pwmL = 0.465f - speedValue;
+ pwmR = 0.475f - speedValue;
}
if(camValue >=200 && camValue < 300) { // rechts fahren, wenn wir Werte von 200 bis 299 haben
camValue = camValue -199.0;
double speedValue = camValue * (maxWert /100.0);
- pwmL = 0.5f + speedValue;
- pwmR = 0.5f + speedValue;
+ pwmL = 0.555f + speedValue;
+ pwmR = 0.535f + speedValue;
}
if(camValue >= 300 && camValue <400) { // gerade fahren, wenn wir Werte von 300 bis 399 haben
camValue = camValue-299.0; // CamValue nimmt die Werte von 1 bis 100 an
double speedValue = camValue * (maxWert /100.0); // Berechnung des speedValue's
- pwmL = 0.5f + speedValue;
- pwmR = 0.5f - speedValue;
+ pwmL = 0.56f + speedValue;
+ pwmR = 0.45f - speedValue;
}
state = 1;
--- a/readCamera.cpp Mon May 01 14:02:35 2017 +0000
+++ b/readCamera.cpp Mon May 01 15:37:23 2017 +0000
@@ -56,7 +56,7 @@
printf("\n\rgerade\n\r");
}
} else { // fährt solange bis Kegelrand
- if (xAxis > 185 || xAxis < 135) {
+ if (xAxis > 200 || xAxis < 120) {
range = 1;
}
distance = (((double) yAxis - (double) yLimit)/(double) yLimit)*-100.0;