Diff: Fahren.cpp

Revision:

14:bee8101aad45

Parent:

12:472b26872a42

Child:

15:26dbcd6ff48d

--- a/Fahren.cpp	Sat May 20 23:38:23 2017 +0000
+++ b/Fahren.cpp	Sun May 21 12:11:14 2017 +0000
@@ -87,20 +87,16 @@
         //pc->printf("left:%f\n\r", sensors[5].read());
 
         //Alle Sensoren genügend abstand -> Kamerafahrt
-        if (sensors[0]>0.25 && sensors[1]>0.22 && sensors[2]>0.25 && sensors[4]>0.25 && sensors[5]>0.22) {
+        if ((sensors[0]>0.25 && sensors[1]>0.22 && sensors[2]>0.25 && sensors[4]>0.25 && sensors[5]>0.22) || pixy.getDetects() != 0) {
             if (pixy.getX()>=5 && pixy.getX()<=315) {
                 e = 160-pixy.getX();
                 diff = pid.calc( e, 0.005f );
-                //pwmLeft = 0.65 - diff;
-                //pwmRight = 0.35 - diff;
-                pwmLeft = 0.5f - diff;
-                pwmRight = 0.5f - diff;
+                pwmLeft = 0.65f - diff;
+                pwmRight = 0.35f - diff;
                 state = cam;
             } else {
-                //pwmLeft = 0.65;
-                //pwmRight = 0.35;
-                pwmLeft = 0.5f;
-                pwmRight = 0.5f;
+                pwmLeft = 0.58;
+                pwmRight = 0.58;
                 state = gerade;
             }
         } else {