Diff: Turn.cpp

Revision:

7:5ff551b098f8

Parent:

6:a09d2ee3b82e

--- a/Turn.cpp	Wed Apr 25 12:49:48 2018 +0000
+++ b/Turn.cpp	Wed May 02 11:53:42 2018 +0000
@@ -4,7 +4,7 @@
 using namespace std;
 
 const float Turn::TURNINGSPEED = 50.0f;//Drehgeschwindgkeit Drehzahl in [rpm]
-const int Turn::TURNINGCOUNTS = 868;  //Entspricht Drehung um 90Grad //DONT TOUCH
+const int Turn::TURNINGCOUNTS = 910;  //Entspricht Drehung um 90Grad //DONT TOUCH
 
 Turn::Turn(EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, int& wallRight, int& wallFront, int& wallLeft):
     counterLeft(counterLeft), 
@@ -25,6 +25,13 @@
     int countsLeft = counterLeft.read();
     int countsLeft0 = countsLeft;
     
+    //vor dem abbiegen halten
+    controller.setDesiredSpeedRight(0.5f);
+    controller.setDesiredSpeedLeft(-0.5f);
+    //wait(0.1f);
+    
+    
+    
     //Entscheiden welche Richtung, Drehen und Stoppen wenn die gewuenschte Anzahl Counts erreicht sind
     
     if (wallLeft == 0){ //Nach Links Drehen
@@ -40,7 +47,7 @@
         //printf("%d\n\r", countsLeft);
     }
     controller.setDesiredSpeedRight(0.5f);
-    controller.setDesiredSpeedLeft(0.5f);
+    controller.setDesiredSpeedLeft(-0.5f);
     
     }else if (wallFront == 0){ //Nicht Drehen-> weiter Geradeaus
     
@@ -59,14 +66,14 @@
                 //printf("%d\n", countsLeft);
             }
             controller.setDesiredSpeedRight(0.5f);
-            controller.setDesiredSpeedLeft(0.5f);
+            controller.setDesiredSpeedLeft(-0.5f);
             
             
             }else{ //Alle Wege versperrt-> Wenden
             
                 //printf("Alles versperrt...zurueck\n");
             
-                while((countsRight <= countsRight0 + 2*TURNINGCOUNTS) && (countsLeft <= countsLeft0 + 2*TURNINGCOUNTS)){
+                while((countsRight <= countsRight0 + 2*TURNINGCOUNTS + 70) && (countsLeft <= countsLeft0 + 2*TURNINGCOUNTS + 70)){
                     controller.setDesiredSpeedRight(TURNINGSPEED);
                     controller.setDesiredSpeedLeft(TURNINGSPEED);
                     countsRight = counterRight.read();
@@ -75,6 +82,6 @@
                     //printf("%d\n", countsLeft);
                 }
                 controller.setDesiredSpeedRight(0.5f);  //0.0f
-                controller.setDesiredSpeedLeft(0.5f);   //0.0f
+                controller.setDesiredSpeedLeft(-0.5f);   //0.0f
             }
 }