Revision 3:24e098715b78, committed 2017-04-04

Comitter:

itslinear

Date:

Tue Apr 04 13:27:59 2017 +0000

Parent:

2:953263712480

Child:

4:fdcf3b5009c6

Commit message:

hoi

Changed in this revision

--- a/Roboter.cpp	Tue Apr 04 13:22:24 2017 +0000
+++ b/Roboter.cpp	Tue Apr 04 13:27:59 2017 +0000
@@ -54,17 +54,23 @@
     *pwmL = 0.5f+offsetDir+offsetLin; // Setzt die Duty-Cycle auf 50%
     *pwmR = 0.5f+offsetDir-offsetLin;
 
-    wait(0.1); 
-    }
+    wait(0.1);
+}
 
 
 
 
-void Roboter::pickup (){
-    
-   
-    
-    
-}    
+void Roboter::pickup ()
+{
+
 
 
+}
+
+void Roboter::turn()      //im Kreis drehen
+{
+    *pwmL = 0.55f;
+    *pwmR = 0.45f;
+
+}
+

--- a/Roboter.h	Tue Apr 04 13:22:24 2017 +0000
+++ b/Roboter.h	Tue Apr 04 13:27:59 2017 +0000
@@ -14,16 +14,18 @@
 
     void bandeAusweichen();
     float readSensor1();
-    void pickup(); 
+    void pickup();
+    void turn();
+
 
 private:
     IRSensor sensors[6];
-   
+
 
     PwmOut* pwmL;
     PwmOut* pwmR;
-    
-    
+
+
 
 
 

--- a/main.cpp	Tue Apr 04 13:22:24 2017 +0000
+++ b/main.cpp	Tue Apr 04 13:27:59 2017 +0000
@@ -11,15 +11,14 @@
 DigitalOut bit2(PC_3);
 IRSensor sensors[6];
 
-PwmOut pwmL( PA_8 );
-PwmOut pwmR( PA_9 );
-
 // Periphery for servos
 Servos servos1(PB_7);
 Servos servos2(PA_6);
 
 //motor stuff
 DigitalOut enableMotorDriver(PB_2);
+PwmOut pwmL( PA_8 );
+PwmOut pwmR( PA_9 );
 
 //indicator leds arround robot
 DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
@@ -33,9 +32,20 @@
 
     while(1) {
 
-        roboter1.bandeAusweichen();
-       // roboter.readSensor1();
-        
+        roboter1.kamera();        //Kameraauswertung
+
+        roboter1.getBlock
+
+        while(camY>20) {          //ausweichen aktive solange Y-Wert von Kamera grösser als 20
+            roboter1.bandeAusweichen();
+        }
+
+        while(cam==0) {           //im Kreis drehen bis Kamera einen Klotz sieht
+            if(
+                roboter1.turn();
+        }
+
+
         wait(0.1f);
 
     }