---
Dependencies: mbed
Fork of MicroMouse_MASTER_FIVE by
Diff: Turn.cpp
- Revision:
- 2:592f01278db4
- Parent:
- 1:d9e840c48b1e
- Child:
- 4:e3f388933954
diff -r d9e840c48b1e -r 592f01278db4 Turn.cpp --- a/Turn.cpp Sat Mar 31 16:45:57 2018 +0000 +++ b/Turn.cpp Wed Apr 04 15:24:28 2018 +0000 @@ -4,7 +4,7 @@ using namespace std; const float Turn::TURNINGSPEED = 50.0f;//Drehgeschwindgkeit -const int Turn::TURNINGCOUNTS = 2000; //Entspricht Drehung um 90Grad +const int Turn::TURNINGCOUNTS = 941; //Entspricht Drehung um 90Grad Turn::Turn(EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, int& wallRight, int& wallFront, int& wallLeft): counterLeft(counterLeft), @@ -31,13 +31,13 @@ printf("Links ist frei\n"); - while((countsRight >= countsRight0 - TURNINGCOUNTS) && (countsLeft >= countsLeft0 - TURNINGCOUNTS)){ + while((countsRight <= countsRight0 + TURNINGCOUNTS) && (countsLeft <= countsLeft0 + TURNINGCOUNTS)){ controller.setDesiredSpeedRight(TURNINGSPEED); controller.setDesiredSpeedLeft(TURNINGSPEED); countsRight = counterRight.read(); countsLeft = counterLeft.read(); - printf("%d\n", countsRight); - printf("%d\n", countsLeft); + printf("%d\n\r", countsRight); + printf("%d\n\r", countsLeft); } controller.setDesiredSpeedRight(0.0f); controller.setDesiredSpeedLeft(0.0f); @@ -50,13 +50,13 @@ printf("Rechts ist frei\n"); - while((countsRight <= countsRight0 + TURNINGCOUNTS) && (countsLeft <= countsLeft0 + TURNINGCOUNTS)){ + while((countsRight >= countsRight0 - TURNINGCOUNTS) && (countsLeft >= countsLeft0 - TURNINGCOUNTS)){ controller.setDesiredSpeedRight(-TURNINGSPEED); controller.setDesiredSpeedLeft(-TURNINGSPEED); countsRight = counterRight.read(); countsLeft = counterLeft.read(); - printf("%d\n", countsRight); - printf("%d\n", countsLeft); + //printf("%d\n", countsRight); + //printf("%d\n", countsLeft); } controller.setDesiredSpeedRight(0.0f); controller.setDesiredSpeedLeft(0.0f); @@ -66,13 +66,13 @@ printf("Alles versperrt...zurueck\n"); - while((countsRight >= countsRight0 - 2*TURNINGCOUNTS) && (countsLeft >= countsLeft0 - 2*TURNINGCOUNTS)){ + while((countsRight <= countsRight0 + 2*TURNINGCOUNTS) && (countsLeft <= countsLeft0 + 2*TURNINGCOUNTS)){ controller.setDesiredSpeedRight(TURNINGSPEED); controller.setDesiredSpeedLeft(TURNINGSPEED); countsRight = counterRight.read(); countsLeft = counterLeft.read(); - printf("%d\n", countsRight); - printf("%d\n", countsLeft); + //printf("%d\n", countsRight); + //printf("%d\n", countsLeft); } controller.setDesiredSpeedRight(0.0f); controller.setDesiredSpeedLeft(0.0f);