Gruppe 3
/
PES1
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Revision 22:ffd36f07c046, committed 2017-05-01
- Comitter:
- Shukle
- Date:
- Mon May 01 10:18:19 2017 +0000
- Parent:
- 21:d05dee0d1a7d
- Child:
- 23:6feed75772b6
- Commit message:
- ?berarbeited;
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 09:47:45 2017 +0000
+++ b/main.cpp Mon May 01 10:18:19 2017 +0000
@@ -53,7 +53,7 @@
while(1) {
double camValue = readCamera();
-
+ printf("\n\rcamValue: %f\n\r",camValue);
switch(state) {
@@ -116,7 +116,7 @@
case 4: // Roboter erkennt gründer Klotz, Klotz wird angefahren
printf("4");
- double maxWert = 0.3; // Maximale Werte für die pmL und pmR
+ double maxWert = 0.2; // Maximale Werte für die pmL und pmR
roboter1.bandeAusweichen();
if(camValue >= 100 && camValue <200 ) { // links fahren, wenn wir Werte von 100 bis 199 haben
camValue = camValue -99;
--- a/readCamera.cpp Mon May 01 09:47:45 2017 +0000
+++ b/readCamera.cpp Mon May 01 10:18:19 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 = 155;
+static int yLimit = 40;
int j;
uint16_t blocks;
@@ -27,11 +27,12 @@
for (j = 0; j < blocks; j++) {
int xAxis = pixy.blocks[j].x;
int yAxis = pixy.blocks[j].y;
+ //printf("%d, %d\n\r", xAxis, yAxis);
// soll drehen bis in stahl, fahren bis kegel, 25 pixel links rechts kegel
- if(xAxis < 180 && xAxis > 140 && yAxis > 155 && yAxis < yLimit ) { // wenn Klotz an Position zum aufnehmen
+ if(xAxis < 180 && xAxis > 140 && yAxis > 0 && yAxis < yLimit ) { // wenn Klotz an Position zum aufnehmen
state = 400;
range = 1;
} else {
@@ -70,7 +71,6 @@
}
}
//printf("%d\n\r",state);
- //printf("%d, %d\n\r", xAxis, yAxis);
return (double) state;
}
}
\ No newline at end of file