Gruppe 3
/
PES1
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Revision 18:ea4671f566d4, committed 2017-04-25
- Comitter:
- Shukle
- Date:
- Tue Apr 25 13:44:12 2017 +0000
- Parent:
- 17:caf5ae550f2e
- Child:
- 19:2f44ecffaf30
- Commit message:
- anfahren funktioniert
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 Tue Apr 25 12:26:04 2017 +0000
+++ b/main.cpp Tue Apr 25 13:44:12 2017 +0000
@@ -74,7 +74,7 @@
case 2:
printf("2");
- if(time1 < 20) { // Im Kreis drehen für 1s
+ if(time1 < 15) { // Im Kreis drehen für 1s
pwmL = 0.4f;
pwmR = 0.4f;
time1 ++;
@@ -92,7 +92,7 @@
case 3:
printf("3");
roboter1.bandeAusweichen();
- if(time2 < 40) { // gerade aus fahren
+ if(time2 < 100) { // gerade aus fahren
pwmL = 0.6f;
pwmR = 0.4f;
time2 ++;
@@ -111,16 +111,19 @@
printf("4");
roboter1.bandeAusweichen();
if(camValue == 1) { // links fahren
- pwmL = 0.45f;
- pwmR = 0.45f;
+ printf(".1;");
+ pwmL = 0.425f;
+ pwmR = 0.425f;
}
if(camValue == 2) { // rechts fahren
- pwmL = 0.55f;
- pwmR = 0.55f;
+ printf(".2;");
+ pwmL = 0.575f;
+ pwmR = 0.575f;
}
if(camValue == 3) { // gerade fahren
- pwmL = 0.55f;
- pwmR = 0.45f;
+ printf(".3;");
+ pwmL = 0.6f;
+ pwmR = 0.4f;
}
state = 1;
--- a/readCamera.cpp Tue Apr 25 12:26:04 2017 +0000
+++ b/readCamera.cpp Tue Apr 25 13:44:12 2017 +0000
@@ -29,14 +29,14 @@
// 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
+ if(xAxis < 200 && xAxis > 120 && yAxis > 155 && yAxis < 190 ) { // wenn Klotz an Position zum aufnehmen
state = 4;
range = 1;
} else {
if (range == 1){ // fährt Strahl an
- if (xAxis < 155){
+ if (xAxis < 140){
state = 1;
- } else if (xAxis > 165){
+ } else if (xAxis > 180){
state = 2;
} else{ // fährt gerade
state = 3;