Diff: Turn.cpp

Revision:

4:e3f388933954

Parent:

2:592f01278db4

Child:

5:b8b1a979b0d5

--- a/Turn.cpp	Sun Apr 08 19:17:01 2018 +0000
+++ b/Turn.cpp	Thu Apr 12 16:14:02 2018 +0000
@@ -4,7 +4,7 @@
 using namespace std;
 
 const float Turn::TURNINGSPEED = 50.0f;//Drehgeschwindgkeit
-const int Turn::TURNINGCOUNTS = 941;  //Entspricht Drehung um 90Grad
+const int Turn::TURNINGCOUNTS = 946;  //Entspricht Drehung um 90Grad //941;
 
 Turn::Turn(EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, int& wallRight, int& wallFront, int& wallLeft):
     counterLeft(counterLeft), 
@@ -29,26 +29,26 @@
     
     if (wallLeft == 0){ //Nach Links Drehen
     
-    printf("Links ist frei\n");
+    //printf("Links ist frei\n");
     
     while((countsRight <= countsRight0 + TURNINGCOUNTS) && (countsLeft <= countsLeft0 + TURNINGCOUNTS)){
         controller.setDesiredSpeedRight(TURNINGSPEED);
         controller.setDesiredSpeedLeft(TURNINGSPEED);
         countsRight = counterRight.read();
         countsLeft = counterLeft.read();
-        printf("%d\n\r", countsRight);
-        printf("%d\n\r", countsLeft);
+        //printf("%d\n\r", countsRight);
+        //printf("%d\n\r", countsLeft);
     }
     controller.setDesiredSpeedRight(0.0f);
     controller.setDesiredSpeedLeft(0.0f);
     
     }else if (wallFront == 0){ //Nicht Drehen-> weiter Geradeaus
     
-        printf("Vorne ist frei\n");
+        //printf("Vorne ist frei\n");
         
         }else if (wallRight == 0) { //Nach Rechts Drehen
             
-            printf("Rechts ist frei\n");
+            //printf("Rechts ist frei\n");
             
             while((countsRight >= countsRight0 - TURNINGCOUNTS) && (countsLeft >= countsLeft0 - TURNINGCOUNTS)){
                 controller.setDesiredSpeedRight(-TURNINGSPEED);
@@ -64,7 +64,7 @@
             
             }else{ //Alle Wege versperrt-> Wenden
             
-                printf("Alles versperrt...zurueck\n");
+                //printf("Alles versperrt...zurueck\n");
             
                 while((countsRight <= countsRight0 + 2*TURNINGCOUNTS) && (countsLeft <= countsLeft0 + 2*TURNINGCOUNTS)){
                     controller.setDesiredSpeedRight(TURNINGSPEED);