PES2_R2D2.0 / Mbed 2 deprecated MicroMouse_MASTER_FIVE

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Dependencies:   mbed

Fork of MicroMouse_MASTER_FOUR by PES2_R2D2.0

Drive.cpp@2:592f01278db4, 2018-04-04 (annotated)

Committer:
ruesipat
Date:
Wed Apr 04 15:24:28 2018 +0000
Revision:
2:592f01278db4
Parent:
1:d9e840c48b1e
Child:
3:2ec7cf8bc3fc
p

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ruesipat 1:d9e840c48b1e 1 #include <cmath>
ruesipat 1:d9e840c48b1e 2 #include "Drive.h"
ruesipat 1:d9e840c48b1e 3
ruesipat 1:d9e840c48b1e 4
ruesipat 1:d9e840c48b1e 5
ruesipat 1:d9e840c48b1e 6 using namespace std;
ruesipat 1:d9e840c48b1e 7
ruesipat 2:592f01278db4 8 const float Drive::DRIVINGSPEED = 100.0f;//Fahrgeschwindigkeit
ruesipat 2:592f01278db4 9 const int Drive::DRIVINGCOUNTS = 1712; //Entspricht Strecke von 20cm
ruesipat 1:d9e840c48b1e 10
ruesipat 2:592f01278db4 11 Drive::Drive(KontrastSensor& kontrastSensor, EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, float distanceRight, float distanceFront, float distanceLeftFront, float distanceLeftBack):
ruesipat 1:d9e840c48b1e 12 kontrastSensor(kontrastSensor),
ruesipat 1:d9e840c48b1e 13 counterLeft(counterLeft),
ruesipat 1:d9e840c48b1e 14 counterRight(counterRight),
ruesipat 1:d9e840c48b1e 15 controller(controller)
ruesipat 1:d9e840c48b1e 16 {
ruesipat 1:d9e840c48b1e 17 this->distanceRight = distanceRight;
ruesipat 1:d9e840c48b1e 18 this->distanceFront = distanceFront;
ruesipat 1:d9e840c48b1e 19 this->distanceLeftFront = distanceLeftFront;
ruesipat 2:592f01278db4 20 this->distanceLeftBack = distanceLeftBack;
ruesipat 1:d9e840c48b1e 21 }
ruesipat 1:d9e840c48b1e 22
ruesipat 1:d9e840c48b1e 23 Drive::~Drive() {}
ruesipat 1:d9e840c48b1e 24
ruesipat 1:d9e840c48b1e 25
ruesipat 1:d9e840c48b1e 26 void Drive::driving()
ruesipat 1:d9e840c48b1e 27 {
ruesipat 1:d9e840c48b1e 28
ruesipat 1:d9e840c48b1e 29 int countsRight = counterRight.read(); //EncoderCounts auslesen
ruesipat 1:d9e840c48b1e 30 int countsRight0 = countsRight; //ReferenzCounts setzten
ruesipat 1:d9e840c48b1e 31 int countsLeft = counterLeft.read();
ruesipat 1:d9e840c48b1e 32 int countsLeft0 = countsLeft;
ruesipat 1:d9e840c48b1e 33
ruesipat 1:d9e840c48b1e 34 printf("Los gehts\n");
ruesipat 1:d9e840c48b1e 35
ruesipat 2:592f01278db4 36 while((countsRight <= countsRight0 + DRIVINGCOUNTS) && (countsLeft >= countsLeft0 - DRIVINGCOUNTS)){ //evt auch noch wand vorne ermitteln und so!!!!!!!!!!!!!
ruesipat 1:d9e840c48b1e 37
ruesipat 1:d9e840c48b1e 38 //kontrastSensor.check();
ruesipat 1:d9e840c48b1e 39 controller.setDesiredSpeedRight(DRIVINGSPEED);
ruesipat 1:d9e840c48b1e 40 controller.setDesiredSpeedLeft(-DRIVINGSPEED);
ruesipat 1:d9e840c48b1e 41 countsRight = counterRight.read();
ruesipat 1:d9e840c48b1e 42 countsLeft = counterLeft.read();
ruesipat 2:592f01278db4 43 //printf("CountsRight%d\n\r", countsRight);
ruesipat 2:592f01278db4 44 //printf("CountsLeft%d\n\r", countsLeft);
ruesipat 1:d9e840c48b1e 45
ruesipat 2:592f01278db4 46
ruesipat 2:592f01278db4 47
ruesipat 2:592f01278db4 48 //(distanceLeftFront - distanceRight) /rotationsgeschwindigkeit und allenfalls korrektur!!!!!!!!!!!!!!
ruesipat 1:d9e840c48b1e 49
ruesipat 1:d9e840c48b1e 50 }
ruesipat 1:d9e840c48b1e 51 controller.setDesiredSpeedRight(0.0f);
ruesipat 1:d9e840c48b1e 52 controller.setDesiredSpeedLeft(0.0f);
ruesipat 1:d9e840c48b1e 53
ruesipat 1:d9e840c48b1e 54 }