PES2_R2D2.0
Fertige Version mit geschwindigkeit 100
Dependencies: mbed
Fork of
Micromouse_alpha_copy_copy
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PES2_R2D2.0
Revision 7:5ff551b098f8, committed 2018-05-02
- Comitter:
- ruesipat
- Date:
- Wed May 02 11:53:42 2018 +0000
- Parent:
- 6:a09d2ee3b82e
- Commit message:
- A
Changed in this revision
diff -r a09d2ee3b82e -r 5ff551b098f8 Drive.cpp
--- a/Drive.cpp Wed Apr 25 12:49:48 2018 +0000
+++ b/Drive.cpp Wed May 02 11:53:42 2018 +0000
@@ -7,9 +7,9 @@
using namespace std;
-const float Drive::FRONTDISTANCE = 62.0f; //Abstand Sensor zur VorderWand //DONT TOUCH
-const float Drive::DRIVINGSPEED = 50.0f;//Fahrgeschwindigkeit Drehzahl in [rpm]
-const int Drive::DRIVINGCOUNTS = 1773; //Entspricht Strecke von 20cm //DONT TOUCH
+const float Drive::FRONTDISTANCE = 80.0f; //Abstand Sensor zur VorderWand //DONT TOUCH //62.0f //55.0
+const float Drive::DRIVINGSPEED = 100.0f;//Fahrgeschwindigkeit Drehzahl in [rpm]
+const int Drive::DRIVINGCOUNTS = 1480; //Entspricht Strecke von 20cm //DONT TOUCH /1773 //1800
Drive::Drive(KontrastSensor& kontrastSensor, EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, IRSensor& irSensor0, IRSensor& irSensor1, IRSensor& irSensor2, IRSensor& irSensor3):
kontrastSensor(kontrastSensor),
@@ -46,8 +46,10 @@
float parallelDif = 0;
float rightLeftDif = 0;
- float correction = 0;
+ float speedCorrection = 0;
+
float slowdown = 0;
+ int countCorrection = 0;
int drive;
@@ -63,13 +65,13 @@
//printf("Los gehts\n");
- while(((countsRight <= countsRight0 + DRIVINGCOUNTS) || (countsLeft >= countsLeft0 - DRIVINGCOUNTS)) && (drive == 1) ) {
+ while(((countsRight <= countsRight0 + DRIVINGCOUNTS + countCorrection) || (countsLeft >= countsLeft0 - DRIVINGCOUNTS - countCorrection)) && (drive == 1) ) {
kontrastSensor.check();
countsRight = counterRight.read();
countsLeft = counterLeft.read();
- controller.setDesiredSpeedRight(DRIVINGSPEED - correction - slowdown); //Korrektur passt Geschwindigkeit an beiden Raedern an
- controller.setDesiredSpeedLeft(-DRIVINGSPEED - correction + slowdown);
+ controller.setDesiredSpeedRight(DRIVINGSPEED - speedCorrection - slowdown/3); //Korrektur passt Geschwindigkeit an beiden Raedern an
+ controller.setDesiredSpeedLeft(-DRIVINGSPEED - speedCorrection + slowdown/3);
//printf("CountsRight%d\n\r", countsRight);
//printf(" CountsLeft%d\n\r", countsLeft);
@@ -79,7 +81,7 @@
//Bereit fuer neuen Durchgang
- correction = 0;
+ speedCorrection = 0;
slowdown = 0;
@@ -114,7 +116,7 @@
//Berechung Korrektur
- correction = ((0.1f * rightLeftDif) + (0.5f * parallelDif)); //DONT TOUCH
+ speedCorrection = ((0.2f * rightLeftDif) + (0.5f * parallelDif)); //DONT TOUCH
@@ -123,6 +125,7 @@
if(irSensor1.read() < 150.0f) { //slow down
+ countCorrection = 500; // ermoeglicht an eine gesichtete wand anzugleichen
slowdown = FRONTDISTANCE/irSensor1.read() * DRIVINGSPEED; //vorderer max abstand
if ( slowdown > DRIVINGSPEED) {
@@ -135,7 +138,7 @@
}//Ende Whileschleife Drive...
- controller.setDesiredSpeedRight(0.5f); //0.0f
- controller.setDesiredSpeedLeft(0.5f); //0.0f
+ //controller.setDesiredSpeedRight(0.5f); //0.5f
+ //controller.setDesiredSpeedLeft(-0.5f); //-0.5f
}
diff -r a09d2ee3b82e -r 5ff551b098f8 KontrastSensor.cpp
--- a/KontrastSensor.cpp Wed Apr 25 12:49:48 2018 +0000
+++ b/KontrastSensor.cpp Wed May 02 11:53:42 2018 +0000
@@ -21,7 +21,7 @@
float k = kontrast*3300; //sodass in Range bis 3300mV
printf("%.0f\n\r", k);
- if(k >1300){
+ if(k >2500){
blackLine = 1;
}
//else{//Auschalten im Betrieb (nur zur Kontrolle)
diff -r a09d2ee3b82e -r 5ff551b098f8 Turn.cpp
--- 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
}
}
diff -r a09d2ee3b82e -r 5ff551b098f8 main.cpp
--- a/main.cpp Wed Apr 25 12:49:48 2018 +0000
+++ b/main.cpp Wed May 02 11:53:42 2018 +0000
@@ -96,6 +96,8 @@
while (button) {
//printf("WARTE AUF 1.START...");
+ //controller.setDesiredSpeedRight(0.5f);
+ //controller.setDesiredSpeedLeft(-0.5f);
wait(1.0f); //Die Ruhe vor dem Sturm...
}