Gruppe 3
/
PES1
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Revision 16:0a1703438e8b, committed 2017-04-21
- Comitter:
- Shukle
- Date:
- Fri Apr 21 11:53:23 2017 +0000
- Parent:
- 15:7e9ecc4d7217
- Child:
- 17:caf5ae550f2e
- Commit message:
- ?berarbeited
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| readCamera.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Apr 20 09:19:20 2017 +0000
+++ b/main.cpp Fri Apr 21 11:53:23 2017 +0000
@@ -45,6 +45,8 @@
int state = 0; // Diese Variable gibt an in welchem State man sich befindet
int tempState = 2;
+ int time1 = 0;
+ int time2 = 0;
while(1) {
@@ -53,6 +55,7 @@
switch(state) {
case 0: // Roboter Anschalten mit Knopf
+ printf("0");
if (switchOnOff == 0) {
state = 1;
@@ -61,6 +64,7 @@
break;
case 1:
+ printf("1");
if(camValue == 1 || camValue == 2 || camValue == 3) { // Die Kamera erkennt ein grünen Klotz
state = 4;
}
@@ -69,11 +73,11 @@
}
if(camValue == 0){
state = tempState;
- }
-
+ }
+ break;
case 2:
- static int time1 = 0;
+ printf("2");
if(time1 < 20) { // Im Kreis drehen für 1s
pwmL = 0.4f;
pwmR = 0.4f;
@@ -90,8 +94,8 @@
case 3:
+ printf("3");
roboter1.bandeAusweichen();
- static int time2 = 0;
if(time2 < 40) { // gerade aus fahren
pwmL = 0.6f;
pwmR = 0.4f;
@@ -108,6 +112,7 @@
case 4: // Roboter erkennt gründer Klotz, Klotz wird angefahren
+ printf("4");
roboter1.bandeAusweichen();
if(camValue == 1) { // links fahren
pwmL = 0.45f;
@@ -126,10 +131,12 @@
break;
case 5: // Aufnehmen des Klotzes
+ printf("5");
pwmL = 0.5f;
pwmR = 0.5f;
state = 1;
-
+ time1 = 0;
+ time2 = 0;
break;
@@ -139,9 +146,8 @@
}
-
- wait(0.1f);
-
+
+ //wait(0.1f);
}
}
--- a/readCamera.h Thu Apr 20 09:19:20 2017 +0000 +++ b/readCamera.h Fri Apr 21 11:53:23 2017 +0000 @@ -13,14 +13,4 @@ - - - - - - - - - - #endif \ No newline at end of file