Diff: Drive.cpp

Revision:

2:592f01278db4

Parent:

1:d9e840c48b1e

Child:

3:2ec7cf8bc3fc

--- a/Drive.cpp	Sat Mar 31 16:45:57 2018 +0000
+++ b/Drive.cpp	Wed Apr 04 15:24:28 2018 +0000
@@ -5,10 +5,10 @@
 
 using namespace std;
 
-const float Drive::DRIVINGSPEED = 1000.0f;//Fahrgeschwindigkeit
-const int Drive::DRIVINGCOUNTS = 10000;  //Entspricht Strecke von 20cm
+const float Drive::DRIVINGSPEED = 100.0f;//Fahrgeschwindigkeit
+const int Drive::DRIVINGCOUNTS = 1712;  //Entspricht Strecke von 20cm
 
-Drive::Drive(KontrastSensor& kontrastSensor, EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, float distanceRight, float distanceFront, float distanceLeftFront):
+Drive::Drive(KontrastSensor& kontrastSensor, EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, float distanceRight, float distanceFront, float distanceLeftFront, float distanceLeftBack):
     kontrastSensor(kontrastSensor),
     counterLeft(counterLeft), 
     counterRight(counterRight),
@@ -17,6 +17,7 @@
     this->distanceRight = distanceRight;
     this->distanceFront = distanceFront; 
     this->distanceLeftFront = distanceLeftFront;
+    this->distanceLeftBack = distanceLeftBack;
 }
 
 Drive::~Drive() {}
@@ -32,17 +33,19 @@
     
     printf("Los gehts\n");
         
-    while((countsRight >= countsRight0 - DRIVINGCOUNTS) && (countsLeft <= countsLeft0 + DRIVINGCOUNTS)){
+    while((countsRight <= countsRight0 + DRIVINGCOUNTS) && (countsLeft >= countsLeft0 - DRIVINGCOUNTS)){ //evt auch noch wand vorne ermitteln und so!!!!!!!!!!!!!
     
         //kontrastSensor.check();
         controller.setDesiredSpeedRight(DRIVINGSPEED);
         controller.setDesiredSpeedLeft(-DRIVINGSPEED);
         countsRight = counterRight.read();
         countsLeft = counterLeft.read();
-        //printf("CountsRight%d\n", countsRight);
-        //printf("CountsLeft%d\n", countsLeft);
+        //printf("CountsRight%d\n\r", countsRight);
+        //printf("CountsLeft%d\n\r", countsLeft);
         
-        //parallelitaet und center pruefen!!!!!!!!!!!!
+        
+
+        //(distanceLeftFront - distanceRight)  /rotationsgeschwindigkeit und allenfalls korrektur!!!!!!!!!!!!!!
         
     }
     controller.setDesiredSpeedRight(0.0f);