Diff: Fahren.cpp

Revision:

6:d611637e7cad

Parent:

4:c1d1bcc96b14

Child:

7:5949f408b6da

--- a/Fahren.cpp	Sat May 13 13:53:16 2017 +0000
+++ b/Fahren.cpp	Tue May 16 14:02:23 2017 +0000
@@ -41,8 +41,7 @@
 }
 
 void Fahren::fahrInit()
-{
-    pwmLeft->write(0.5);
+{ pwmLeft->write(0.5);
     pwmRight->write(0.5);
 
     for( int ii = 0; ii<6; ++ii) {
@@ -60,14 +59,14 @@
 
 void Fahren::fahrRutine()
 {
-    pc->printf("left:%f\n\r", sensors[5].read());
+   // pc->printf("left:%f\n\r", sensors[5].read());
     if(sensors[0]<=0.1 && sensors[1]<=0.12 && sensors[5]<=0.12) {
         //wenn hinten rechts => leichte linkskurve
         if(sensors[2]<=0.25) {
             pwmLeft->write(0.35);
             pwmRight->write(0.55);
             if (pc) {
-                pc->printf("zurueck-rechtskurve\n");
+                //pc->printf("zurueck-rechtskurve\n");
             }
             state=zurueck_l;
         }
@@ -76,7 +75,7 @@
             pwmLeft->write(0.45);
             pwmRight->write(0.65);
             if (pc) {
-                pc->printf("zurueck-linkskurve\n");
+               // pc->printf("zurueck-linkskurve\n");
             }
             state=zurueck_r;
         }
@@ -85,7 +84,7 @@
             pwmRight->write(0.6);
             state=zurueck;
             if (pc) {
-                pc->printf("zurueck-gerade\n");
+              //  pc->printf("zurueck-gerade\n");
             }
         }
     }
@@ -127,7 +126,7 @@
         pwmLeft->write(0.3);
         pwmRight->write(0.3);
         if (pc) {
-            pc->printf("drehen links\n\n\n");
+            //pc->printf("drehen links\n\n\n");
         }
     }
 
@@ -135,7 +134,7 @@
         pwmLeft->write(0.7);
         pwmRight->write(0.7);
         if (pc) {
-            pc->printf("drehen rechts\n\n\n");
+           // pc->printf("drehen rechts\n\n\n");
         }
     }
 
@@ -143,11 +142,11 @@
         if (rand()%2==0 && state != drehen) {
             pwmLeft->write(0.3);
             pwmRight->write(0.3);
-            pc->printf("random drehen\n\n\n");
+           // pc->printf("random drehen\n\n\n");
         } else if (rand()%2 != 0 && state != drehen) {
             pwmLeft->write(0.7);
             pwmRight->write(0.7);
-            pc->printf("random drehen\n\n\n");
+            //pc->printf("random drehen\n\n\n");
         }
 
         state=drehen;
@@ -155,7 +154,7 @@
     //Wenn Front-Left etwas sehen => nach Rechts**************************
     else if(sensors[1] >= 0.08 && (sensors[5]<=wenden && sensors[5] >= 0.08)) {
         if (pc) {
-            pc->printf("rechts\n");
+           // pc->printf("rechts\n");
         }
         pwmLeft->write(0.65);
         pwmRight->write(0.45);
@@ -165,7 +164,7 @@
     // Wenn Front-Right etwas sehen => Links*******************************
     else if(sensors[5] >= 0.08 && (sensors[1]<=wenden && sensors[1] >= 0.08)) {
         if(pc) {
-            pc->printf("Links\n");
+           // pc->printf("Links\n");
         }
         pwmLeft->write(0.55);
         pwmRight->write(0.35);
@@ -175,14 +174,15 @@
     //Wenn kein Sensor anspricht => gerade aus*****************************
     else if(sensors[0]>=0.26) {
         if(pc) {
-            pc->printf("gerade\n");
+          //  pc->printf("gerade\n");
         }
+        
         pwmLeft->write(0.65);
         pwmRight->write(0.35);
         state=gerade;
     } else {
         if(pc) {
-            pc->printf("gerade2\n\r");
+          //  pc->printf("gerade2\n\r");
         }
     }
 }
\ No newline at end of file