Gruppe 3
/
PES1
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Revision 24:be4fd3005611, committed 2017-05-01
- Comitter:
- Shukle
- Date:
- Mon May 01 13:25:12 2017 +0000
- Parent:
- 23:6feed75772b6
- Child:
- 25:a50ca6f2eca4
- Commit message:
- superduper Update mega gut
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 12:35:14 2017 +0000
+++ b/main.cpp Mon May 01 13:25:12 2017 +0000
@@ -99,7 +99,7 @@
case 3:
printf("3");
roboter1.bandeAusweichen();
- if(time2 < 40) { // gerade aus fahren
+ if(time2 < 80) { // gerade aus fahren
pwmL = 0.6f;
pwmR = 0.4f;
time2 ++;
--- a/readCamera.cpp Mon May 01 12:35:14 2017 +0000
+++ b/readCamera.cpp Mon May 01 13:25:12 2017 +0000
@@ -9,7 +9,7 @@
static int range = 1; // 1: fährt strahl an, 2: fährt kegel an
static int state = 0;
static double distance = 0;
-static int yLimit = 90;
+static int yLimit = 130;
int j;
uint16_t blocks;
@@ -32,7 +32,7 @@
// soll drehen bis in stahl, fahren bis kegel, 25 pixel links rechts kegel
- if(xAxis < 180 && xAxis > 140 && yAxis > 0 && yAxis < yLimit ) { // wenn Klotz an Position zum aufnehmen
+ if(xAxis < 180 && xAxis > 140 && yAxis < 199 && yAxis > yLimit ) { // wenn Klotz an Position zum aufnehmen
state = 400;
range = 1;
printf("\n\raufnehmen\n\r");
@@ -47,7 +47,7 @@
state = 200 + (int) distance;
printf("\n\rfahre rechts\n\r");
} else{ // fährt gerade
- distance = (((yAxis - yLimit)/(199-yLimit))*100);
+ distance = (((double) yAxis - (double) yLimit)/(double) yLimit)*-100.0;
state = 300 + (int) distance;
if (state == 400){
state=399;
@@ -59,6 +59,8 @@
if (xAxis > 185 || xAxis < 135) {
range = 1;
}
+ distance = (((double) yAxis - (double) yLimit)/(double) yLimit)*-100.0;
+ state = 300 + (int) distance;
}
}