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ENDLÖSUNG:)
Dependencies: mbed
Fork of MicroMouse_MASTER_FOUR by
CheckWalls.cpp@10:e8110fb94686, 2018-05-22 (annotated)
- Committer:
- ruesipat
- Date:
- Tue May 22 14:20:20 2018 +0000
- Revision:
- 10:e8110fb94686
- Parent:
- 9:ab19796bf14a
s
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ruesipat | 1:d9e840c48b1e | 1 | #include <cmath> |
ruesipat | 1:d9e840c48b1e | 2 | #include "CheckWalls.h" |
ruesipat | 1:d9e840c48b1e | 3 | |
ruesipat | 1:d9e840c48b1e | 4 | using namespace std; |
ruesipat | 1:d9e840c48b1e | 5 | |
ruesipat | 2:592f01278db4 | 6 | const float CheckWalls::WALL_DISTANCE = 100.0f; |
ruesipat | 1:d9e840c48b1e | 7 | |
ruesipat | 5:b8b1a979b0d5 | 8 | CheckWalls::CheckWalls(IRSensor& irSensor0, IRSensor& irSensor1, IRSensor& irSensor2, int& wallRight, int& wallFront, int& wallLeft): |
ruesipat | 5:b8b1a979b0d5 | 9 | irSensor0(irSensor0), |
ruesipat | 5:b8b1a979b0d5 | 10 | irSensor1(irSensor1), |
ruesipat | 5:b8b1a979b0d5 | 11 | irSensor2(irSensor2), |
ruesipat | 1:d9e840c48b1e | 12 | wallRight(wallRight), |
ruesipat | 1:d9e840c48b1e | 13 | wallFront(wallFront), |
ruesipat | 5:b8b1a979b0d5 | 14 | wallLeft(wallLeft) |
ruesipat | 5:b8b1a979b0d5 | 15 | |
ruesipat | 1:d9e840c48b1e | 16 | { |
ruesipat | 5:b8b1a979b0d5 | 17 | |
ruesipat | 1:d9e840c48b1e | 18 | } |
ruesipat | 1:d9e840c48b1e | 19 | |
ruesipat | 1:d9e840c48b1e | 20 | CheckWalls::~CheckWalls() {} |
ruesipat | 1:d9e840c48b1e | 21 | |
ruesipat | 1:d9e840c48b1e | 22 | void CheckWalls::check(){ |
ruesipat | 1:d9e840c48b1e | 23 | |
ruesipat | 5:b8b1a979b0d5 | 24 | if (irSensor0.read() < WALL_DISTANCE){ //Abstand zur RECHTEN WAND |
ruesipat | 1:d9e840c48b1e | 25 | wallRight = 1; //Wand |
ruesipat | 1:d9e840c48b1e | 26 | }else{ |
ruesipat | 1:d9e840c48b1e | 27 | wallRight = 0; //keine Wand |
ruesipat | 1:d9e840c48b1e | 28 | } |
ruesipat | 1:d9e840c48b1e | 29 | |
ruesipat | 5:b8b1a979b0d5 | 30 | if (irSensor1.read() < WALL_DISTANCE){ //Abstand zur WAND VORNE |
ruesipat | 1:d9e840c48b1e | 31 | wallFront = 1; //Wand |
ruesipat | 1:d9e840c48b1e | 32 | }else{ |
ruesipat | 1:d9e840c48b1e | 33 | wallFront = 0; //Keine Wand |
ruesipat | 1:d9e840c48b1e | 34 | } |
ruesipat | 1:d9e840c48b1e | 35 | |
ruesipat | 5:b8b1a979b0d5 | 36 | if (irSensor2.read() < WALL_DISTANCE){ //Anbstand zur LINKEN WAND |
ruesipat | 1:d9e840c48b1e | 37 | wallLeft = 1; //Wand |
ruesipat | 1:d9e840c48b1e | 38 | }else{ |
ruesipat | 1:d9e840c48b1e | 39 | wallLeft = 0; //keine Wand |
ruesipat | 1:d9e840c48b1e | 40 | } |
ruesipat | 1:d9e840c48b1e | 41 | } |