Gruppe 3
/
PES1
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Revision 8:6d9cd5ad332d, committed 2017-04-18
- Comitter:
- schneju2
- Date:
- Tue Apr 18 12:09:46 2017 +0000
- Parent:
- 7:edb4e0cfc0d1
- Child:
- 9:d9e46f9c9e40
- Commit message:
- neu
Changed in this revision
| Roboter.cpp | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/Roboter.cpp Tue Apr 11 15:42:22 2017 +0000
+++ b/Roboter.cpp Tue Apr 18 12:09:46 2017 +0000
@@ -41,21 +41,25 @@
if(sensors[0] < x && sensors[1] < x && sensors[5] < x) { // alle sensoren aktiv, roboter fährt nach hinten
offsetLin = -0.1f;
+ printf("Alle sensoren aktiv");
}
if(sensors[0].read() < x && sensors[5] > x) { // sensor vorne, roboter dreht nach links
offsetDir = -0.05;
offsetLin = 0;
+ printf(" sensoren vorne");
}
if(sensors[1] < x) { // sensor rechts, roboter dreht nach links
offsetDir = -0.05;
offsetLin = 0;
+ printf("sensor rechts");
}
if(sensors[5] < x && sensors[1]>(x+0.02f)) { // sensor links, roboter dreht nach rechts
offsetDir = 0.05;
offsetLin = 0;
+ printf("sensor links");
}
*pwmL = 0.5f+offsetDir+offsetLin; // Setzt die Duty-Cycle auf 50%
--- a/main.cpp Tue Apr 11 15:42:22 2017 +0000
+++ b/main.cpp Tue Apr 18 12:09:46 2017 +0000
@@ -39,6 +39,9 @@
enableMotorDriver = 1; // Schaltet die Motoren ein
pwmL.period(0.00005f); // Setzt die Periode auf 50 μs
pwmR.period(0.00005f);
+ pwmL = 0.5f;
+ pwmR = 0.5f;
+
int state = 1; // Diese Variable gibt an in welchem State man sich befindet
@@ -51,8 +54,8 @@
case 1: // Roboter Anschalten mit Knopf
- if (switchOnOff == 1) {
- state = 2;
+ if (switchOnOff== 0){
+ state = 5;
}
break;
@@ -96,9 +99,12 @@
case 5: // Aufnehmen des Klotzes
-
+ roboter1.bandeAusweichen();
break;
+
+
+ default: break;
}