PES2_R2D2.0 / Mbed 2 deprecated MicroMouse_MASTER_SIX

---

Dependencies:   mbed

Fork of MicroMouse_MASTER_FIVE by PES2_R2D2.0

Files at this revision

API Documentation at this revision

Revision 11:8c8dba56bfda, committed 2018-05-23

Comitter:
TheDarkDurzo
Date:
Wed May 23 17:59:26 2018 +0000
Parent:
10:e8110fb94686
Commit message:
---

Changed in this revision

Drive.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Drive.cpp	Tue May 22 14:20:20 2018 +0000
+++ b/Drive.cpp	Wed May 23 17:59:26 2018 +0000
@@ -7,9 +7,9 @@
 
 using namespace std;
 
-const float Drive::FRONTDISTANCE = 70.0f; //Abstand Sensor zur VorderWand //DONT TOUCH  //62.0f //55.0 110.0
+const float Drive::FRONTDISTANCE = 73.0f; //Abstand Sensor zur VorderWand //DONT TOUCH  //62.0f //55.0 110.0
 const float Drive::DRIVINGSPEED = 130.0f;//Fahrgeschwindigkeit  Drehzahl in [rpm]       //130.0f
-const int Drive::DRIVINGCOUNTS = 1380;  //Entspricht Strecke von 20cm  //DONT TOUCH /1773 //1800 //1350 /////1390
+const int Drive::DRIVINGCOUNTS = 1390;  //Entspricht Strecke von 20cm  //DONT TOUCH /1773 //1800 //1350 /////1390
 
 Drive::Drive(KontrastSensor& kontrastSensor, EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, IRSensor& irSensor0, IRSensor& irSensor1, IRSensor& irSensor2, IRSensor& irSensor3, int& dontStop, int& modeStart, int& path, int& pathNext):
     kontrastSensor(kontrastSensor),
@@ -55,6 +55,10 @@
 
     if(dontStop == 2) { //geradeaus
         softStart =0.0f;
+        
+        /********/
+       //countCorrection = -400.0f;
+        /*******/
     }
 
     int drive;
@@ -125,7 +129,7 @@
 
         //Berechung Korrektur
 
-        speedCorrection = ((0.3f * rightLeftDif) + (0.6f * parallelDif) + (0.6f * leftDif) + (0.6f * rightDif)); //DONT TOUCH 0.35 0.7 0.7 0.7
+        speedCorrection = ((0.45f * rightLeftDif) + (0.7f * parallelDif) + (0.9f * leftDif) + (0.9f * rightDif)); //DONT TOUCH 0.35 0.7 0.7 0.7
 
 
         //Anfahrrampe damit die Raeder nicht durchdrehen
@@ -151,13 +155,13 @@
                 drive = 0;
             }
 
-        } else if((((DRIVINGCOUNTS - countsRight) < 220) || ((countsLeft + DRIVINGCOUNTS) < 220)) && ((irSensor2.read() > 120.0f) && ((modeStart != 1) || (pathNext == 2)))) { //Anhaltrampe wenn nach counts gefahren
+        } else if((((DRIVINGCOUNTS - countsRight) < 250) || ((countsLeft + DRIVINGCOUNTS) < 250)) && ((irSensor2.read() > 120.0f) && ((modeStart != 1) || (pathNext == 2)))) { //Anhaltrampe wenn nach counts gefahren
             slowdown = slowdown + 5.0f;
             if (slowdown >= DRIVINGSPEED - 20.0f) {
 
                 slowdown = DRIVINGSPEED - 20.0f;
 }
-            } else if((((DRIVINGCOUNTS - countsRight) < 220) || ((countsLeft + DRIVINGCOUNTS) < 220)) && ((irSensor0.read() > 120.0f) && ((modeStart == 1) && (pathNext == 3)))) { //Anhaltrampe wenn nach counts gefahren
+            } else if((((DRIVINGCOUNTS - countsRight) < 250) || ((countsLeft + DRIVINGCOUNTS) < 250)) && ((irSensor0.read() > 120.0f) && ((modeStart == 1) && (pathNext == 3)))) { //Anhaltrampe wenn nach counts gefahren
                 slowdown = slowdown + 5.0f;
                 if (slowdown >= DRIVINGSPEED - 20.0f) {