PES2_R2D2.0 / Mbed 2 deprecated MicroMouse_MASTER_FIVE

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Dependencies:   mbed

Fork of MicroMouse_MASTER_FOUR by PES2_R2D2.0

Diff: Drive.cpp

Revision:
6:a09d2ee3b82e
Parent:
5:b8b1a979b0d5
Child:
7:5ef09519a6e9
--- a/Drive.cpp	Wed Apr 25 12:07:03 2018 +0000
+++ b/Drive.cpp	Wed Apr 25 12:49:48 2018 +0000
@@ -8,7 +8,7 @@
 using namespace std;
 
 const float Drive::FRONTDISTANCE = 62.0f; //Abstand Sensor zur VorderWand //DONT TOUCH
-const float Drive::DRIVINGSPEED = 100.0f;//Fahrgeschwindigkeit  Drehzahl in [rpm]
+const float Drive::DRIVINGSPEED = 50.0f;//Fahrgeschwindigkeit  Drehzahl in [rpm]
 const int Drive::DRIVINGCOUNTS = 1773;  //Entspricht Strecke von 20cm  //DONT TOUCH
 
 Drive::Drive(KontrastSensor& kontrastSensor, EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, IRSensor& irSensor0, IRSensor& irSensor1, IRSensor& irSensor2, IRSensor& irSensor3):
@@ -65,7 +65,7 @@
 
     while(((countsRight <= countsRight0 + DRIVINGCOUNTS) || (countsLeft >= countsLeft0 - DRIVINGCOUNTS)) && (drive == 1) ) {
 
-        //kontrastSensor.check();
+        kontrastSensor.check();
         countsRight = counterRight.read();
         countsLeft = counterLeft.read();
         controller.setDesiredSpeedRight(DRIVINGSPEED - correction - slowdown); //Korrektur passt Geschwindigkeit an beiden Raedern an
@@ -135,7 +135,7 @@
 
     }//Ende Whileschleife Drive...
 
-    controller.setDesiredSpeedRight(0.0f);
-    controller.setDesiredSpeedLeft(0.0f);
+    controller.setDesiredSpeedRight(0.5f);  //0.0f
+    controller.setDesiredSpeedLeft(0.5f);   //0.0f
 
 }