PES2_R2D2.0 / Mbed 2 deprecated MicroMouse_MASTER_FOUR

Pathfinding nach rechts funktioniert noch nicht...der rest schon

Dependencies:   mbed

Fork of MicroMouse_MASTER_THREE by PES2_R2D2.0

CheckWalls.cpp@5:b8b1a979b0d5, 2018-04-25 (annotated)

Committer:
ruesipat
Date:
Wed Apr 25 12:07:03 2018 +0000
Revision:
5:b8b1a979b0d5
Parent:
2:592f01278db4
Child:
9:ab19796bf14a
25.04.2018_FINDET ZIEL

Who changed what in which revision?

UserRevisionLine numberNew 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
ruesipat 1:d9e840c48b1e 21 CheckWalls::~CheckWalls() {}
ruesipat 1:d9e840c48b1e 22
ruesipat 1:d9e840c48b1e 23
ruesipat 1:d9e840c48b1e 24 void CheckWalls::check(){
ruesipat 1:d9e840c48b1e 25
ruesipat 5:b8b1a979b0d5 26 if (irSensor0.read() < WALL_DISTANCE){ //Abstand zur RECHTEN WAND
ruesipat 1:d9e840c48b1e 27 wallRight = 1; //Wand
ruesipat 1:d9e840c48b1e 28 }else{
ruesipat 1:d9e840c48b1e 29 wallRight = 0; //keine Wand
ruesipat 1:d9e840c48b1e 30 }
ruesipat 1:d9e840c48b1e 31
ruesipat 5:b8b1a979b0d5 32 if (irSensor1.read() < WALL_DISTANCE){ //Abstand zur WAND VORNE
ruesipat 1:d9e840c48b1e 33 wallFront = 1; //Wand
ruesipat 1:d9e840c48b1e 34 }else{
ruesipat 1:d9e840c48b1e 35 wallFront = 0; //Keine Wand
ruesipat 1:d9e840c48b1e 36 }
ruesipat 1:d9e840c48b1e 37
ruesipat 5:b8b1a979b0d5 38 if (irSensor2.read() < WALL_DISTANCE){ //Anbstand zur LINKEN WAND
ruesipat 1:d9e840c48b1e 39 wallLeft = 1; //Wand
ruesipat 1:d9e840c48b1e 40 }else{
ruesipat 1:d9e840c48b1e 41 wallLeft = 0; //keine Wand
ruesipat 1:d9e840c48b1e 42 }
ruesipat 1:d9e840c48b1e 43 }