Diff: Regler.cpp

Revision:

8:a7f1ee7840d0

Parent:

7:862d80e0ea2d

Child:

9:bdbf4447b55e

--- a/Regler.cpp	Fri May 04 16:26:59 2018 +0000
+++ b/Regler.cpp	Sun May 06 14:17:07 2018 +0000
@@ -13,9 +13,9 @@
 
 using namespace std;
 
-const float Regler :: PERIOD = 0.2f;
+const float Regler :: PERIOD = 0.5f;
 const int Regler :: FIXSPEED = 50;
-float faktor = 0.1;
+float faktor = 0.1f;
 
 
 
@@ -33,11 +33,23 @@
     
     void Regler::setSpeed (){
         measR2 = iRSensor.readR();            // Converts and read the analog input value (value from 0.0 to 1.0)
-        measL2 = iRSensor.readL();             
+        measL2 = iRSensor.readL(); 
         
+        if(measR2 == measL2){                                                   //DAS ISCH MIN GAGAREGLER zum Pröble gsi
+                    SpeedR = FIXSPEED;
+                    SpeedL = FIXSPEED;
+                }else if(measR2 < measL2 && measR2 < 300 && measL2 < 300){      //float style implementiert
+                    SpeedR = FIXSPEED;
+                    SpeedL = FIXSPEED*1.04;
+                }else if(measR2 > measL2 && measR2 < 300 && measL2 < 300){
+                    SpeedR = FIXSPEED*1.06;
+                    SpeedL = FIXSPEED;
+                }
+                    
+   /*     
         if((measR2 > 100) && (measL2 < 100)) {                //keine Wnad rechts
-            if(measL2 > 47){
-                div3 = measL2 - 47;
+            if(measL2 > 40){
+                div3 = measL2 - 40;
                 kor3 = faktor*div3;
                 div2 = 0;
                 div1 = 0;
@@ -46,8 +58,8 @@
                 div6 = 0;
                 SpeedR = FIXSPEED;
                 SpeedL = FIXSPEED + kor3;
-            } else if (measL2 < 52){
-                div4 = 52 - measR2;
+            } else if (measL2 < 45){
+                div4 = 45 - measR2;
                 kor4 = faktor*div4;
                 div2 = 0;
                 div1 = 0;
@@ -114,14 +126,17 @@
 //printf("Div1 = %f\n",div1);
 //printf("Div2 = %f\n",div2);  
 //printf("SpeedR1 = %f\n",SpeedR);
-//printf("SpeedL1 = %f\n",SpeedL);        
+//printf("SpeedL1 = %f\n",SpeedL);   
+
+*/
+     
 }
-    float Regler :: getSpeedR (){
+    float Regler :: getSpeedR(){
         SpeedR = SpeedR;
         //printf("SpeedR2 = %f\n",SpeedR);
         return SpeedR;
     }
-    float Regler :: getSpeedL (){
+    float Regler :: getSpeedL(){
         SpeedL = SpeedL;
         //printf("SpeedL2 = %f\n",SpeedL);  
         return SpeedL;