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@9:ab19796bf14a, 2018-05-16 (annotated)

Committer:
ruesipat
Date:
Wed May 16 16:41:44 2018 +0000
Revision:
9:ab19796bf14a
Parent:
5:b8b1a979b0d5 
;

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 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 }