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@1:d9e840c48b1e, 2018-03-31 (annotated)

Committer:
ruesipat
Date:
Sat Mar 31 16:45:57 2018 +0000
Revision:
1:d9e840c48b1e
Child:
2:592f01278db4
j

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 1:d9e840c48b1e 6 const float CheckWalls::WALL_DISTANCE = 20.0f;
ruesipat 1:d9e840c48b1e 7
ruesipat 1:d9e840c48b1e 8 CheckWalls::CheckWalls(float distanceRight, float distanceFront, float distanceLeftFront, int& wallRight, int& wallFront, int& wallLeft):
ruesipat 1:d9e840c48b1e 9 wallRight(wallRight),
ruesipat 1:d9e840c48b1e 10 wallFront(wallFront),
ruesipat 1:d9e840c48b1e 11 wallLeft(wallLeft)
ruesipat 1:d9e840c48b1e 12 {
ruesipat 1:d9e840c48b1e 13 this->distanceRight = distanceRight;
ruesipat 1:d9e840c48b1e 14 this->distanceFront = distanceFront;
ruesipat 1:d9e840c48b1e 15 this->distanceLeftFront = distanceLeftFront;
ruesipat 1:d9e840c48b1e 16 }
ruesipat 1:d9e840c48b1e 17
ruesipat 1:d9e840c48b1e 18
ruesipat 1:d9e840c48b1e 19 CheckWalls::~CheckWalls() {}
ruesipat 1:d9e840c48b1e 20
ruesipat 1:d9e840c48b1e 21
ruesipat 1:d9e840c48b1e 22 void CheckWalls::check(){
ruesipat 1:d9e840c48b1e 23
ruesipat 1:d9e840c48b1e 24 if (distanceRight < 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 1:d9e840c48b1e 30 if (distanceFront < 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 1:d9e840c48b1e 36 if (distanceLeftFront < 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 }