Roboshark / Mbed 2 deprecated Main_1

Sensoren auslesen/umwandeln/codieren und State Maschine

Dependencies:   mbed

Fork of StateMachine_1 by Roboshark

StateMachine.cpp@4:91a9737e4821, 2018-04-20 (annotated)

Committer:
ahlervin
Date:
Fri Apr 20 17:49:36 2018 +0000
Revision:
4:91a9737e4821
Parent:
3:6e28589a732f 
Sensoren auswerten, Codieren und State Machine

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ahlervin 4:91a9737e4821 1
ahlervin 4:91a9737e4821 2 // Statemachine
ahlervin 4:91a9737e4821 3 //V04.18
ahlervin 4:91a9737e4821 4 // V. Ahlers
ahlervin 4:91a9737e4821 5
ahlervin 4:91a9737e4821 6 #include <mbed.h>
ahlervin 4:91a9737e4821 7 #include "StateMachine.h"
ahlervin 4:91a9737e4821 8
ahlervin 4:91a9737e4821 9 using namespace std;
ahlervin 4:91a9737e4821 10
ahlervin 4:91a9737e4821 11 StateMachine::StateMachine(int IrR, int IrL, int IrF) : IrR(IrR), IrL(IrL), IrF(IrF) {}
ahlervin 4:91a9737e4821 12
ahlervin 4:91a9737e4821 13 StateMachine::~StateMachine (){}
Jacqueline 0:e611a0b9f02a 14
ahlervin 4:91a9737e4821 15 int StateMachine :: drive() {
Jacqueline 0:e611a0b9f02a 16
ahlervin 4:91a9737e4821 17 if((IrR==0) && (IrL==0) && (IrF==1)){
ahlervin 4:91a9737e4821 18 caseDrive = 2;
ahlervin 4:91a9737e4821 19 }else { if ((IrR==0) && (IrL==1) && (IrF==0)){
ahlervin 4:91a9737e4821 20 caseDrive = 2;
ahlervin 4:91a9737e4821 21 }else { if ((IrR==0) && (IrL==1) && (IrF==1)){
ahlervin 4:91a9737e4821 22 caseDrive = 2;
ahlervin 4:91a9737e4821 23 }else { if ((IrR==1) && (IrL==0) && (IrF==0)){
ahlervin 4:91a9737e4821 24 caseDrive = 1;
ahlervin 4:91a9737e4821 25 }else { if ((IrR==1) && (IrL==1) && (IrF==1)){
ahlervin 4:91a9737e4821 26 caseDrive = 3;
ahlervin 4:91a9737e4821 27 }else { if ((IrR==1) && (IrL==1) && (IrF==0)){
ahlervin 4:91a9737e4821 28 caseDrive = 1;
ahlervin 4:91a9737e4821 29 }else { if ((IrR==1) && (IrL==1) && (IrF==1)){
ahlervin 4:91a9737e4821 30 caseDrive = 4;
ahlervin 4:91a9737e4821 31 }else{ caseDrive=0;
ahlervin 4:91a9737e4821 32 }}}}}}}
Jacqueline 0:e611a0b9f02a 33
ahlervin 4:91a9737e4821 34 return caseDrive;
ahlervin 4:91a9737e4821 35 }