Diff: CheckWalls.cpp

Revision:

5:b8b1a979b0d5

Parent:

2:592f01278db4

Child:

9:ab19796bf14a

--- a/CheckWalls.cpp	Thu Apr 12 16:14:02 2018 +0000
+++ b/CheckWalls.cpp	Wed Apr 25 12:07:03 2018 +0000
@@ -5,14 +5,16 @@
 
 const float CheckWalls::WALL_DISTANCE = 100.0f;
 
-CheckWalls::CheckWalls(float distanceRight, float distanceFront, float distanceLeftFront, int& wallRight, int& wallFront, int& wallLeft):
+CheckWalls::CheckWalls(IRSensor& irSensor0, IRSensor& irSensor1, IRSensor& irSensor2, int& wallRight, int& wallFront, int& wallLeft):
+    irSensor0(irSensor0),
+    irSensor1(irSensor1),
+    irSensor2(irSensor2),
     wallRight(wallRight),
     wallFront(wallFront),
-    wallLeft(wallLeft)    
+    wallLeft(wallLeft)
+ 
 {
-    this->distanceRight = distanceRight;
-    this->distanceFront = distanceFront; 
-    this->distanceLeftFront = distanceLeftFront;
+
 }
 
 
@@ -21,19 +23,19 @@
 
 void CheckWalls::check(){
         
-        if (distanceRight < WALL_DISTANCE){ //Abstand zur RECHTEN WAND                        
+        if (irSensor0.read() < WALL_DISTANCE){ //Abstand zur RECHTEN WAND                        
             wallRight = 1; //Wand
         }else{                   
             wallRight = 0; //keine Wand 
         }     
                 
-        if (distanceFront < WALL_DISTANCE){ //Abstand zur WAND VORNE
+        if (irSensor1.read() < WALL_DISTANCE){ //Abstand zur WAND VORNE
             wallFront = 1;  //Wand
         }else{
             wallFront = 0;  //Keine Wand
         }
                 
-        if (distanceLeftFront < WALL_DISTANCE){ //Anbstand zur LINKEN WAND                        
+        if (irSensor2.read() < WALL_DISTANCE){ //Anbstand zur LINKEN WAND                        
             wallLeft = 1;   //Wand
         }else{               
             wallLeft = 0;   //keine Wand