Gruppe 3
/
PES1
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Revision 21:d05dee0d1a7d, committed 2017-05-01
- Comitter:
- Shukle
- Date:
- Mon May 01 09:47:45 2017 +0000
- Parent:
- 20:c961dc550882
- Child:
- 22:ffd36f07c046
- Commit message:
- zusammengef?gt neues main und neue readcamera
Changed in this revision
| readCamera.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/readCamera.cpp Mon May 01 09:42:51 2017 +0000
+++ b/readCamera.cpp Mon May 01 09:47:45 2017 +0000
@@ -8,6 +8,8 @@
static int k = 0;
static int range = 1; // 1: fährt strahl an, 2: fährt kegel an
static int state = 0;
+static double distance = 0;
+static int yLimit = 155;
int j;
uint16_t blocks;
@@ -29,17 +31,23 @@
// soll drehen bis in stahl, fahren bis kegel, 25 pixel links rechts kegel
- if(xAxis < 185 && xAxis > 135 && yAxis > 155 && yAxis < 190 ) { // wenn Klotz an Position zum aufnehmen
- state = 4;
+ if(xAxis < 180 && xAxis > 140 && yAxis > 155 && yAxis < yLimit ) { // wenn Klotz an Position zum aufnehmen
+ state = 400;
range = 1;
} else {
if (range == 1){ // fährt Strahl an
- if (xAxis < 155){
- state = 1;
- } else if (xAxis > 165){
- state = 2;
+ if (xAxis < 140){
+ distance = ((xAxis - 160)*(-0.625))-1;
+ state = 100 + (int) distance;
+ } else if (xAxis > 180){
+ distance = ((xAxis - 160)*(0.625))-1;
+ state = 200 + (int) distance;
} else{ // fährt gerade
- state = 3;
+ distance = (((yAxis - yLimit)/(199-yLimit))*100);
+ state = 300 + (int) distance;
+ if (state == 400){
+ state=399;
+ }
range = 2;
}
} else { // fährt solange bis Kegelrand
@@ -63,6 +71,6 @@
}
//printf("%d\n\r",state);
//printf("%d, %d\n\r", xAxis, yAxis);
- return state;
+ return (double) state;
}
}
\ No newline at end of file