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Dependencies:   Farbsensor IRSensorLib PID_Control Servo mbed PixyLib

Diff: liftAnsteuerung.cpp

Revision:
5:4b409c37e81f
Parent:
2:dea0bab5e45c
diff -r c1d1bcc96b14 -r 4b409c37e81f liftAnsteuerung.cpp
--- a/liftAnsteuerung.cpp	Sat May 13 13:53:16 2017 +0000
+++ b/liftAnsteuerung.cpp	Sun May 14 14:56:24 2017 +0000
@@ -3,9 +3,9 @@
 #include "liftAnsteuerung.h"
  
  
-LiftAnsteuerung::LiftAnsteuerung(int intervall, int ruecklauf, Servo* servoLift)
+LiftAnsteuerung::LiftAnsteuerung(int interval, int ruecklauf, Servo* servoLift)
 {
-    init(intervall, ruecklauf, servoLift);
+    init(interval, ruecklauf, servoLift);
 }
  
  
@@ -17,26 +17,29 @@
  
 void LiftAnsteuerung::init(int interval, int ruecklauf, Servo* servoLift)
 {
-    zeitintervall = interval;
+    zeitinterval = interval;
     ruecklaufzeit = ruecklauf;
     this->servoLift = servoLift;
-    M1 = 0;
+    M1 = interval;
     M2 = ruecklauf;
+    //servoLift->write(1.2f);
 }
 void LiftAnsteuerung::steuerung(){
-    
-    if (M1<zeitintervall && M2 == ruecklauf) {
-        servoLift->write(1.1f);
-        M1++;
-        } else if (M1==zeitintervall && M2>=0) {
+    pc->printf("M1: %d, M2: %d\n\r", M1, M2);
+    if (M1>0) {
+        servoLift->write(1.2f);
+        M1--;
+        } else if (M2>0) {
             servoLift->write(0.1f);
             M2--;
             } else {
-                M1 = 0;
-                M2 = zeitintervall;
-                }
-        
+                M1 = zeitinterval;
+                M2 = ruecklaufzeit;
+    }
+    //pc->printf("M1: %d, M2: %d\n\r", M1, M2);
 }
+
+
 void LiftAnsteuerung::setSerialOutput(Serial *pc)
 {
     this->pc = pc;