READY TO RUMBLE
Dependencies: mbed
Fork of Micromouse_alpha_copy_copy by
Diff: Drive.cpp
- Revision:
- 6:a09d2ee3b82e
- Parent:
- 5:b8b1a979b0d5
- Child:
- 7:5ef09519a6e9
diff -r b8b1a979b0d5 -r a09d2ee3b82e Drive.cpp --- a/Drive.cpp Wed Apr 25 12:07:03 2018 +0000 +++ b/Drive.cpp Wed Apr 25 12:49:48 2018 +0000 @@ -8,7 +8,7 @@ using namespace std; const float Drive::FRONTDISTANCE = 62.0f; //Abstand Sensor zur VorderWand //DONT TOUCH -const float Drive::DRIVINGSPEED = 100.0f;//Fahrgeschwindigkeit Drehzahl in [rpm] +const float Drive::DRIVINGSPEED = 50.0f;//Fahrgeschwindigkeit Drehzahl in [rpm] const int Drive::DRIVINGCOUNTS = 1773; //Entspricht Strecke von 20cm //DONT TOUCH Drive::Drive(KontrastSensor& kontrastSensor, EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, IRSensor& irSensor0, IRSensor& irSensor1, IRSensor& irSensor2, IRSensor& irSensor3): @@ -65,7 +65,7 @@ while(((countsRight <= countsRight0 + DRIVINGCOUNTS) || (countsLeft >= countsLeft0 - DRIVINGCOUNTS)) && (drive == 1) ) { - //kontrastSensor.check(); + kontrastSensor.check(); countsRight = counterRight.read(); countsLeft = counterLeft.read(); controller.setDesiredSpeedRight(DRIVINGSPEED - correction - slowdown); //Korrektur passt Geschwindigkeit an beiden Raedern an @@ -135,7 +135,7 @@ }//Ende Whileschleife Drive... - controller.setDesiredSpeedRight(0.0f); - controller.setDesiredSpeedLeft(0.0f); + controller.setDesiredSpeedRight(0.5f); //0.0f + controller.setDesiredSpeedLeft(0.5f); //0.0f }