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Dependencies: mbed
Fork of Roboshark_V9 by
Fahren.cpp@7:862d80e0ea2d, 2018-05-04 (annotated)
- Committer:
- ahlervin
- Date:
- Fri May 04 16:26:59 2018 +0000
- Revision:
- 7:862d80e0ea2d
- Parent:
- 6:7bbcdd07bc2d
- Child:
- 8:d0a27278c108
Mit Regler 2.0
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ahlervin | 7:862d80e0ea2d | 1 | /*Roboshark V6 |
ahlervin | 6:7bbcdd07bc2d | 2 | Fahren.cpp |
ahlervin | 6:7bbcdd07bc2d | 3 | Erstellt: J. Blunschi |
ahlervin | 6:7bbcdd07bc2d | 4 | geändert: V.Ahlers |
ahlervin | 6:7bbcdd07bc2d | 5 | V.5.18 |
ahlervin | 6:7bbcdd07bc2d | 6 | */ |
ahlervin | 6:7bbcdd07bc2d | 7 | |
Jacqueline | 0:6d0671ae4648 | 8 | #include "Fahren.h" |
Jacqueline | 0:6d0671ae4648 | 9 | #include <mbed.h> |
ahlervin | 6:7bbcdd07bc2d | 10 | #include "Regler.h" |
Jacqueline | 0:6d0671ae4648 | 11 | |
Jacqueline | 0:6d0671ae4648 | 12 | |
ahlervin | 6:7bbcdd07bc2d | 13 | using namespace std; |
ahlervin | 6:7bbcdd07bc2d | 14 | |
ahlervin | 7:862d80e0ea2d | 15 | const float Fahren :: PERIOD = 0.8f; |
ahlervin | 6:7bbcdd07bc2d | 16 | |
Jacqueline | 0:6d0671ae4648 | 17 | //Konstruktor |
ahlervin | 7:862d80e0ea2d | 18 | Fahren::Fahren(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight, Regler& regler, int reglerEin): |
ahlervin | 7:862d80e0ea2d | 19 | controller(controller), counterLeft(counterLeft), counterRight(counterRight), regler(regler), reglerEin(reglerEin){ |
Jacqueline | 0:6d0671ae4648 | 20 | |
ahlervin | 6:7bbcdd07bc2d | 21 | SpeedR = 50; |
ahlervin | 6:7bbcdd07bc2d | 22 | SpeedL = 50; |
ahlervin | 6:7bbcdd07bc2d | 23 | ticker.attach(callback(this, &Fahren::getSpeed), PERIOD); |
ahlervin | 6:7bbcdd07bc2d | 24 | } |
ahlervin | 6:7bbcdd07bc2d | 25 | |
Jacqueline | 0:6d0671ae4648 | 26 | //Dekonstruktor |
ahlervin | 6:7bbcdd07bc2d | 27 | Fahren::~Fahren() { |
ahlervin | 6:7bbcdd07bc2d | 28 | ticker.detach(); |
ahlervin | 6:7bbcdd07bc2d | 29 | } |
ahlervin | 7:862d80e0ea2d | 30 | |
ahlervin | 7:862d80e0ea2d | 31 | |
ahlervin | 6:7bbcdd07bc2d | 32 | //Korrigierte Geschwindigkeit aus der Klasse Regler aufrufen |
ahlervin | 6:7bbcdd07bc2d | 33 | void Fahren::getSpeed(){ |
ahlervin | 7:862d80e0ea2d | 34 | if(reglerEin == 1){ |
ahlervin | 7:862d80e0ea2d | 35 | SpeedR = regler.getSpeedR(); |
ahlervin | 7:862d80e0ea2d | 36 | SpeedL = regler.getSpeedL(); |
ahlervin | 7:862d80e0ea2d | 37 | }else {SpeedR = 50; |
ahlervin | 7:862d80e0ea2d | 38 | SpeedL = 50; |
ahlervin | 7:862d80e0ea2d | 39 | } |
ahlervin | 6:7bbcdd07bc2d | 40 | |
ahlervin | 6:7bbcdd07bc2d | 41 | //printf("SpeedR in F = %f\n",SpeedR); |
ahlervin | 6:7bbcdd07bc2d | 42 | //printf("SpeedL in F = %f\n",SpeedL); |
ahlervin | 6:7bbcdd07bc2d | 43 | } |
Jacqueline | 0:6d0671ae4648 | 44 | |
ahlervin | 7:862d80e0ea2d | 45 | |
ahlervin | 6:7bbcdd07bc2d | 46 | //Implementation der Methode geradeaus fahren ungeregelt |
ahlervin | 6:7bbcdd07bc2d | 47 | void Fahren::geradeausU(){ |
Jacqueline | 0:6d0671ae4648 | 48 | |
Jacqueline | 0:6d0671ae4648 | 49 | //einlesen des aktuellen Encoder standes |
Jacqueline | 0:6d0671ae4648 | 50 | initialClicksRight = counterRight.read(); |
Jacqueline | 0:6d0671ae4648 | 51 | initialClicksLeft = counterLeft.read(); |
Jacqueline | 0:6d0671ae4648 | 52 | |
Jacqueline | 0:6d0671ae4648 | 53 | //Anzahl Clicks die der Encoder zählen soll |
ahlervin | 6:7bbcdd07bc2d | 54 | wegRechts = 1773; |
ahlervin | 6:7bbcdd07bc2d | 55 | wegLinks = 1773; |
Jacqueline | 0:6d0671ae4648 | 56 | |
Jacqueline | 0:6d0671ae4648 | 57 | //Geschwindigkeit |
ahlervin | 7:862d80e0ea2d | 58 | //speedRight = 50; |
ahlervin | 7:862d80e0ea2d | 59 | //speedLeft = 50; |
Jacqueline | 0:6d0671ae4648 | 60 | |
Jacqueline | 0:6d0671ae4648 | 61 | //Zustand, dass der Roboter nicht gestoppt hat |
Jacqueline | 0:6d0671ae4648 | 62 | stopRight = false; |
Jacqueline | 0:6d0671ae4648 | 63 | stopLeft = false; |
Jacqueline | 0:6d0671ae4648 | 64 | |
Jacqueline | 0:6d0671ae4648 | 65 | //Drehrichtung der Motoren |
ahlervin | 7:862d80e0ea2d | 66 | controller.setDesiredSpeedRight(SpeedR); |
ahlervin | 7:862d80e0ea2d | 67 | controller.setDesiredSpeedLeft(-(SpeedL)); |
Jacqueline | 0:6d0671ae4648 | 68 | |
Jacqueline | 0:6d0671ae4648 | 69 | |
Jacqueline | 0:6d0671ae4648 | 70 | while(1){ |
Jacqueline | 0:6d0671ae4648 | 71 | |
Jacqueline | 0:6d0671ae4648 | 72 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 73 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 74 | |
Jacqueline | 0:6d0671ae4648 | 75 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 76 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
Jacqueline | 0:6d0671ae4648 | 77 | controller.setDesiredSpeedRight(0); |
Jacqueline | 0:6d0671ae4648 | 78 | stopRight = true; |
Jacqueline | 0:6d0671ae4648 | 79 | } |
Jacqueline | 0:6d0671ae4648 | 80 | |
Jacqueline | 0:6d0671ae4648 | 81 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 82 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
Jacqueline | 0:6d0671ae4648 | 83 | controller.setDesiredSpeedLeft(0); |
Jacqueline | 0:6d0671ae4648 | 84 | stopLeft = true; |
Jacqueline | 0:6d0671ae4648 | 85 | } |
Jacqueline | 0:6d0671ae4648 | 86 | |
Jacqueline | 0:6d0671ae4648 | 87 | if(stopRight == true && stopLeft == true){ |
Jacqueline | 0:6d0671ae4648 | 88 | return; |
Jacqueline | 0:6d0671ae4648 | 89 | } |
Jacqueline | 0:6d0671ae4648 | 90 | |
Jacqueline | 0:6d0671ae4648 | 91 | } |
Jacqueline | 0:6d0671ae4648 | 92 | |
Jacqueline | 0:6d0671ae4648 | 93 | } |
Jacqueline | 0:6d0671ae4648 | 94 | |
ahlervin | 6:7bbcdd07bc2d | 95 | //Implementation der Methode geradeaus fahren geregelt |
ahlervin | 6:7bbcdd07bc2d | 96 | void Fahren::geradeausG(){ |
ahlervin | 6:7bbcdd07bc2d | 97 | |
ahlervin | 6:7bbcdd07bc2d | 98 | //einlesen des aktuellen Encoder standes |
ahlervin | 6:7bbcdd07bc2d | 99 | initialClicksRight = counterRight.read(); |
ahlervin | 6:7bbcdd07bc2d | 100 | initialClicksLeft = counterLeft.read(); |
ahlervin | 6:7bbcdd07bc2d | 101 | |
ahlervin | 6:7bbcdd07bc2d | 102 | //Anzahl Clicks die der Encoder zählen soll |
ahlervin | 6:7bbcdd07bc2d | 103 | wegRechts = 1773; |
ahlervin | 6:7bbcdd07bc2d | 104 | wegLinks = 1773; |
ahlervin | 6:7bbcdd07bc2d | 105 | |
ahlervin | 6:7bbcdd07bc2d | 106 | //Geschwindigkeit |
ahlervin | 6:7bbcdd07bc2d | 107 | //speedRight = 50;//SpeedR |
ahlervin | 6:7bbcdd07bc2d | 108 | //speedLeft = 50;//SpeedL |
ahlervin | 6:7bbcdd07bc2d | 109 | |
ahlervin | 7:862d80e0ea2d | 110 | |
ahlervin | 6:7bbcdd07bc2d | 111 | |
ahlervin | 6:7bbcdd07bc2d | 112 | //Zustand, dass der Roboter nicht gestoppt hat |
ahlervin | 6:7bbcdd07bc2d | 113 | stopRight = false; |
ahlervin | 6:7bbcdd07bc2d | 114 | stopLeft = false; |
ahlervin | 6:7bbcdd07bc2d | 115 | |
ahlervin | 6:7bbcdd07bc2d | 116 | //Drehrichtung der Motoren |
ahlervin | 6:7bbcdd07bc2d | 117 | controller.setDesiredSpeedRight(SpeedR); |
ahlervin | 6:7bbcdd07bc2d | 118 | controller.setDesiredSpeedLeft(-(SpeedL)); |
ahlervin | 7:862d80e0ea2d | 119 | printf("SpeedR in F2= %f\n",SpeedR); |
ahlervin | 7:862d80e0ea2d | 120 | printf("SpeedL in F2= %f\n",SpeedL); |
Jacqueline | 0:6d0671ae4648 | 121 | |
ahlervin | 6:7bbcdd07bc2d | 122 | while(1){ |
ahlervin | 6:7bbcdd07bc2d | 123 | |
ahlervin | 6:7bbcdd07bc2d | 124 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
ahlervin | 6:7bbcdd07bc2d | 125 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
ahlervin | 6:7bbcdd07bc2d | 126 | |
ahlervin | 6:7bbcdd07bc2d | 127 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
ahlervin | 6:7bbcdd07bc2d | 128 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
ahlervin | 6:7bbcdd07bc2d | 129 | controller.setDesiredSpeedRight(0); |
ahlervin | 6:7bbcdd07bc2d | 130 | stopRight = true; |
ahlervin | 6:7bbcdd07bc2d | 131 | } |
ahlervin | 6:7bbcdd07bc2d | 132 | |
ahlervin | 6:7bbcdd07bc2d | 133 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
ahlervin | 6:7bbcdd07bc2d | 134 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
ahlervin | 6:7bbcdd07bc2d | 135 | controller.setDesiredSpeedLeft(0); |
ahlervin | 6:7bbcdd07bc2d | 136 | stopLeft = true; |
ahlervin | 6:7bbcdd07bc2d | 137 | } |
ahlervin | 6:7bbcdd07bc2d | 138 | |
ahlervin | 6:7bbcdd07bc2d | 139 | if(stopRight == true && stopLeft == true){ |
ahlervin | 6:7bbcdd07bc2d | 140 | return; |
ahlervin | 6:7bbcdd07bc2d | 141 | } |
ahlervin | 6:7bbcdd07bc2d | 142 | |
ahlervin | 6:7bbcdd07bc2d | 143 | } |
ahlervin | 6:7bbcdd07bc2d | 144 | |
ahlervin | 6:7bbcdd07bc2d | 145 | } |
ahlervin | 6:7bbcdd07bc2d | 146 | |
Jacqueline | 0:6d0671ae4648 | 147 | //Implementation der Methode 90 Grad Rechtsdrehen |
Jacqueline | 0:6d0671ae4648 | 148 | void Fahren::rechts90() { |
Jacqueline | 0:6d0671ae4648 | 149 | |
Jacqueline | 0:6d0671ae4648 | 150 | //einlesen des aktuellen Encoder standes |
Jacqueline | 0:6d0671ae4648 | 151 | initialClicksRight = counterRight.read(); |
Jacqueline | 0:6d0671ae4648 | 152 | initialClicksLeft = counterLeft.read(); |
Jacqueline | 0:6d0671ae4648 | 153 | |
Jacqueline | 0:6d0671ae4648 | 154 | //Anzahl Clicks die der Encoder zählen soll |
ahlervin | 7:862d80e0ea2d | 155 | wegRechts = 868; |
ahlervin | 7:862d80e0ea2d | 156 | wegLinks = 868; |
Jacqueline | 0:6d0671ae4648 | 157 | |
Jacqueline | 0:6d0671ae4648 | 158 | //Geschwindigkeit |
ahlervin | 7:862d80e0ea2d | 159 | //speedRight = 50; |
ahlervin | 7:862d80e0ea2d | 160 | //speedLeft = 50; |
Jacqueline | 0:6d0671ae4648 | 161 | |
Jacqueline | 0:6d0671ae4648 | 162 | //Zustand, dass der Roboter nicht gestoppt hat |
Jacqueline | 0:6d0671ae4648 | 163 | stopRight = false; |
Jacqueline | 0:6d0671ae4648 | 164 | stopLeft = false; |
Jacqueline | 0:6d0671ae4648 | 165 | |
Jacqueline | 0:6d0671ae4648 | 166 | //Drehrichtung der Motoren |
ahlervin | 7:862d80e0ea2d | 167 | controller.setDesiredSpeedRight((SpeedR)); |
ahlervin | 7:862d80e0ea2d | 168 | controller.setDesiredSpeedLeft((SpeedL)); |
ahlervin | 7:862d80e0ea2d | 169 | //printf("SpeedR in F = %f\n",SpeedR); |
ahlervin | 7:862d80e0ea2d | 170 | //printf("SpeedL in F = %f\n",SpeedL); |
Jacqueline | 0:6d0671ae4648 | 171 | while(1){ |
Jacqueline | 0:6d0671ae4648 | 172 | |
Jacqueline | 0:6d0671ae4648 | 173 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 174 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 175 | |
Jacqueline | 0:6d0671ae4648 | 176 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 177 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
Jacqueline | 0:6d0671ae4648 | 178 | controller.setDesiredSpeedRight(0); |
Jacqueline | 0:6d0671ae4648 | 179 | stopRight = true; |
Jacqueline | 0:6d0671ae4648 | 180 | } |
Jacqueline | 0:6d0671ae4648 | 181 | |
Jacqueline | 0:6d0671ae4648 | 182 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 183 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
Jacqueline | 0:6d0671ae4648 | 184 | controller.setDesiredSpeedLeft(0); |
Jacqueline | 0:6d0671ae4648 | 185 | stopLeft = true; |
Jacqueline | 0:6d0671ae4648 | 186 | } |
Jacqueline | 0:6d0671ae4648 | 187 | |
Jacqueline | 0:6d0671ae4648 | 188 | if(stopRight == true && stopLeft == true){ |
Jacqueline | 0:6d0671ae4648 | 189 | return; |
Jacqueline | 0:6d0671ae4648 | 190 | } |
Jacqueline | 0:6d0671ae4648 | 191 | |
Jacqueline | 0:6d0671ae4648 | 192 | } |
Jacqueline | 0:6d0671ae4648 | 193 | |
Jacqueline | 0:6d0671ae4648 | 194 | } |
Jacqueline | 0:6d0671ae4648 | 195 | |
Jacqueline | 0:6d0671ae4648 | 196 | |
Jacqueline | 0:6d0671ae4648 | 197 | |
Jacqueline | 0:6d0671ae4648 | 198 | //Implementation der Methode 180 Grad Rechtsdrehen |
Jacqueline | 0:6d0671ae4648 | 199 | void Fahren::rechts180() { |
Jacqueline | 0:6d0671ae4648 | 200 | |
Jacqueline | 0:6d0671ae4648 | 201 | //einlesen des aktuellen Encoder standes |
Jacqueline | 0:6d0671ae4648 | 202 | initialClicksRight = counterRight.read(); |
Jacqueline | 0:6d0671ae4648 | 203 | initialClicksLeft = counterLeft.read(); |
Jacqueline | 0:6d0671ae4648 | 204 | |
Jacqueline | 0:6d0671ae4648 | 205 | //Anzahl Clicks die der Encoder zählen soll |
ahlervin | 7:862d80e0ea2d | 206 | wegRechts = 1752; |
ahlervin | 7:862d80e0ea2d | 207 | wegLinks = 1752; |
Jacqueline | 0:6d0671ae4648 | 208 | |
Jacqueline | 0:6d0671ae4648 | 209 | //Geschwindigkeit |
ahlervin | 7:862d80e0ea2d | 210 | //speedRight = 50; |
ahlervin | 7:862d80e0ea2d | 211 | //speedLeft = 50; |
Jacqueline | 0:6d0671ae4648 | 212 | |
Jacqueline | 0:6d0671ae4648 | 213 | //Zustand, dass der Roboter nicht gestoppt hat |
Jacqueline | 0:6d0671ae4648 | 214 | stopRight = false; |
Jacqueline | 0:6d0671ae4648 | 215 | stopLeft = false; |
Jacqueline | 0:6d0671ae4648 | 216 | |
Jacqueline | 0:6d0671ae4648 | 217 | //Drehrichtung der Motoren |
ahlervin | 7:862d80e0ea2d | 218 | controller.setDesiredSpeedRight((SpeedR)); |
ahlervin | 7:862d80e0ea2d | 219 | controller.setDesiredSpeedLeft((SpeedL)); |
Jacqueline | 0:6d0671ae4648 | 220 | |
Jacqueline | 0:6d0671ae4648 | 221 | while(1){ |
Jacqueline | 0:6d0671ae4648 | 222 | |
Jacqueline | 0:6d0671ae4648 | 223 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 224 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 225 | |
Jacqueline | 0:6d0671ae4648 | 226 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 227 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
Jacqueline | 0:6d0671ae4648 | 228 | controller.setDesiredSpeedRight(0); |
Jacqueline | 0:6d0671ae4648 | 229 | stopRight = true; |
Jacqueline | 0:6d0671ae4648 | 230 | } |
Jacqueline | 0:6d0671ae4648 | 231 | |
Jacqueline | 0:6d0671ae4648 | 232 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 233 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
Jacqueline | 0:6d0671ae4648 | 234 | controller.setDesiredSpeedLeft(0); |
Jacqueline | 0:6d0671ae4648 | 235 | stopLeft = true; |
Jacqueline | 0:6d0671ae4648 | 236 | } |
Jacqueline | 0:6d0671ae4648 | 237 | |
Jacqueline | 0:6d0671ae4648 | 238 | if(stopRight == true && stopLeft == true){ |
Jacqueline | 0:6d0671ae4648 | 239 | return; |
Jacqueline | 0:6d0671ae4648 | 240 | } |
Jacqueline | 0:6d0671ae4648 | 241 | |
Jacqueline | 0:6d0671ae4648 | 242 | } |
Jacqueline | 0:6d0671ae4648 | 243 | |
Jacqueline | 0:6d0671ae4648 | 244 | } |
Jacqueline | 0:6d0671ae4648 | 245 | |
Jacqueline | 0:6d0671ae4648 | 246 | |
Jacqueline | 2:402b1a74fff6 | 247 | //Implementation der Methode 90 Grad Linksdrehen |
Jacqueline | 2:402b1a74fff6 | 248 | void Fahren::links90() { |
Jacqueline | 0:6d0671ae4648 | 249 | |
Jacqueline | 0:6d0671ae4648 | 250 | //einlesen des aktuellen Encoder standes |
Jacqueline | 0:6d0671ae4648 | 251 | initialClicksRight = counterRight.read(); |
Jacqueline | 0:6d0671ae4648 | 252 | initialClicksLeft = counterLeft.read(); |
Jacqueline | 0:6d0671ae4648 | 253 | |
Jacqueline | 0:6d0671ae4648 | 254 | //Anzahl Clicks die der Encoder zählen soll |
Jacqueline | 2:402b1a74fff6 | 255 | wegRechts = 878; |
Jacqueline | 2:402b1a74fff6 | 256 | wegLinks = 878; |
Jacqueline | 0:6d0671ae4648 | 257 | |
Jacqueline | 0:6d0671ae4648 | 258 | //Geschwindigkeit |
ahlervin | 7:862d80e0ea2d | 259 | //speedRight = 50; |
ahlervin | 7:862d80e0ea2d | 260 | //speedLeft = 50; |
Jacqueline | 0:6d0671ae4648 | 261 | |
Jacqueline | 0:6d0671ae4648 | 262 | //Zustand, dass der Roboter nicht gestoppt hat |
Jacqueline | 0:6d0671ae4648 | 263 | stopRight = false; |
Jacqueline | 0:6d0671ae4648 | 264 | stopLeft = false; |
Jacqueline | 0:6d0671ae4648 | 265 | |
Jacqueline | 0:6d0671ae4648 | 266 | //Drehrichtung der Motoren |
ahlervin | 7:862d80e0ea2d | 267 | controller.setDesiredSpeedRight((-SpeedR)); |
ahlervin | 7:862d80e0ea2d | 268 | controller.setDesiredSpeedLeft((-SpeedL)); |
Jacqueline | 0:6d0671ae4648 | 269 | |
Jacqueline | 0:6d0671ae4648 | 270 | while(1){ |
Jacqueline | 0:6d0671ae4648 | 271 | |
Jacqueline | 0:6d0671ae4648 | 272 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 273 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 274 | |
Jacqueline | 0:6d0671ae4648 | 275 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 276 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
Jacqueline | 0:6d0671ae4648 | 277 | controller.setDesiredSpeedRight(0); |
Jacqueline | 0:6d0671ae4648 | 278 | stopRight = true; |
Jacqueline | 0:6d0671ae4648 | 279 | } |
Jacqueline | 0:6d0671ae4648 | 280 | |
Jacqueline | 0:6d0671ae4648 | 281 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 282 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
Jacqueline | 0:6d0671ae4648 | 283 | controller.setDesiredSpeedLeft(0); |
Jacqueline | 0:6d0671ae4648 | 284 | stopLeft = true; |
Jacqueline | 0:6d0671ae4648 | 285 | } |
Jacqueline | 0:6d0671ae4648 | 286 | |
Jacqueline | 0:6d0671ae4648 | 287 | if(stopRight == true && stopLeft == true){ |
Jacqueline | 0:6d0671ae4648 | 288 | return; |
Jacqueline | 0:6d0671ae4648 | 289 | } |
Jacqueline | 0:6d0671ae4648 | 290 | |
Jacqueline | 0:6d0671ae4648 | 291 | } |
Jacqueline | 0:6d0671ae4648 | 292 | |
Jacqueline | 0:6d0671ae4648 | 293 | } |
Jacqueline | 0:6d0671ae4648 | 294 | |
ahlervin | 4:767fd282dd9c | 295 | |
ahlervin | 4:767fd282dd9c | 296 | //Implementation der Methode Ziel erreicht |
ahlervin | 4:767fd282dd9c | 297 | void Fahren::ziel() { |
ahlervin | 4:767fd282dd9c | 298 | |
ahlervin | 4:767fd282dd9c | 299 | //einlesen des aktuellen Encoder standes |
ahlervin | 4:767fd282dd9c | 300 | initialClicksRight = counterRight.read(); |
ahlervin | 4:767fd282dd9c | 301 | initialClicksLeft = counterLeft.read(); |
Jacqueline | 0:6d0671ae4648 | 302 | |
ahlervin | 4:767fd282dd9c | 303 | //Anzahl Clicks die der Encoder zählen soll |
ahlervin | 4:767fd282dd9c | 304 | wegRechts = 7050; |
ahlervin | 4:767fd282dd9c | 305 | wegLinks = 7050; |
ahlervin | 4:767fd282dd9c | 306 | |
ahlervin | 4:767fd282dd9c | 307 | //Geschwindigkeit |
ahlervin | 7:862d80e0ea2d | 308 | //speedRight = 80; |
ahlervin | 7:862d80e0ea2d | 309 | //speedLeft = 80; |
ahlervin | 4:767fd282dd9c | 310 | |
ahlervin | 4:767fd282dd9c | 311 | //Zustand, dass der Roboter nicht gestoppt hat |
ahlervin | 4:767fd282dd9c | 312 | stopRight = false; |
ahlervin | 4:767fd282dd9c | 313 | stopLeft = false; |
ahlervin | 4:767fd282dd9c | 314 | |
ahlervin | 4:767fd282dd9c | 315 | //Drehrichtung der Motoren |
ahlervin | 7:862d80e0ea2d | 316 | controller.setDesiredSpeedRight((SpeedR)); |
ahlervin | 7:862d80e0ea2d | 317 | controller.setDesiredSpeedLeft((SpeedR)); |
ahlervin | 4:767fd282dd9c | 318 | |
ahlervin | 4:767fd282dd9c | 319 | while(1){ |
ahlervin | 4:767fd282dd9c | 320 | |
ahlervin | 4:767fd282dd9c | 321 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
ahlervin | 4:767fd282dd9c | 322 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
ahlervin | 4:767fd282dd9c | 323 | |
ahlervin | 4:767fd282dd9c | 324 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
ahlervin | 4:767fd282dd9c | 325 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
ahlervin | 4:767fd282dd9c | 326 | controller.setDesiredSpeedRight(0); |
ahlervin | 4:767fd282dd9c | 327 | stopRight = true; |
ahlervin | 4:767fd282dd9c | 328 | } |
ahlervin | 4:767fd282dd9c | 329 | |
ahlervin | 4:767fd282dd9c | 330 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
ahlervin | 4:767fd282dd9c | 331 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
ahlervin | 4:767fd282dd9c | 332 | controller.setDesiredSpeedLeft(0); |
ahlervin | 4:767fd282dd9c | 333 | stopLeft = true; |
ahlervin | 4:767fd282dd9c | 334 | } |
ahlervin | 4:767fd282dd9c | 335 | |
ahlervin | 4:767fd282dd9c | 336 | if(stopRight == true && stopLeft == true){ |
ahlervin | 4:767fd282dd9c | 337 | return; |
ahlervin | 4:767fd282dd9c | 338 | } |
ahlervin | 4:767fd282dd9c | 339 | } |
ahlervin | 4:767fd282dd9c | 340 | |
ahlervin | 4:767fd282dd9c | 341 | } |
Jacqueline | 0:6d0671ae4648 | 342 | |
ahlervin | 4:767fd282dd9c | 343 | //Implementation der Methode stopp |
ahlervin | 4:767fd282dd9c | 344 | void Fahren::stopp(){ |
ahlervin | 4:767fd282dd9c | 345 | |
ahlervin | 4:767fd282dd9c | 346 | //einlesen des aktuellen Encoder standes |
ahlervin | 4:767fd282dd9c | 347 | initialClicksRight = counterRight.read(); |
ahlervin | 4:767fd282dd9c | 348 | initialClicksLeft = counterLeft.read(); |
ahlervin | 4:767fd282dd9c | 349 | |
ahlervin | 4:767fd282dd9c | 350 | //Anzahl Clicks die der Encoder zählen soll |
ahlervin | 4:767fd282dd9c | 351 | wegRechts = 0; |
ahlervin | 4:767fd282dd9c | 352 | wegLinks = 0; |
ahlervin | 4:767fd282dd9c | 353 | |
ahlervin | 4:767fd282dd9c | 354 | //Geschwindigkeit |
ahlervin | 4:767fd282dd9c | 355 | speedRight = 0; |
ahlervin | 4:767fd282dd9c | 356 | speedLeft = 0; |
ahlervin | 4:767fd282dd9c | 357 | |
ahlervin | 4:767fd282dd9c | 358 | //Zustand, dass der Roboter nicht gestoppt hat |
ahlervin | 4:767fd282dd9c | 359 | stopRight = false; |
ahlervin | 4:767fd282dd9c | 360 | stopLeft = false; |
ahlervin | 4:767fd282dd9c | 361 | |
ahlervin | 4:767fd282dd9c | 362 | //Drehrichtung der Motoren |
ahlervin | 4:767fd282dd9c | 363 | controller.setDesiredSpeedRight(speedRight); |
ahlervin | 4:767fd282dd9c | 364 | controller.setDesiredSpeedLeft(-(speedLeft)); |
ahlervin | 4:767fd282dd9c | 365 | |
ahlervin | 4:767fd282dd9c | 366 | |
ahlervin | 4:767fd282dd9c | 367 | while(1){ |
ahlervin | 4:767fd282dd9c | 368 | |
ahlervin | 4:767fd282dd9c | 369 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
ahlervin | 4:767fd282dd9c | 370 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
ahlervin | 4:767fd282dd9c | 371 | |
ahlervin | 4:767fd282dd9c | 372 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
ahlervin | 4:767fd282dd9c | 373 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
ahlervin | 4:767fd282dd9c | 374 | controller.setDesiredSpeedRight(0); |
ahlervin | 4:767fd282dd9c | 375 | stopRight = true; |
ahlervin | 4:767fd282dd9c | 376 | } |
ahlervin | 4:767fd282dd9c | 377 | |
ahlervin | 4:767fd282dd9c | 378 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
ahlervin | 4:767fd282dd9c | 379 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
ahlervin | 4:767fd282dd9c | 380 | controller.setDesiredSpeedLeft(0); |
ahlervin | 4:767fd282dd9c | 381 | stopLeft = true; |
ahlervin | 4:767fd282dd9c | 382 | } |
ahlervin | 4:767fd282dd9c | 383 | |
ahlervin | 4:767fd282dd9c | 384 | if(stopRight == true && stopLeft == true){ |
ahlervin | 4:767fd282dd9c | 385 | return; |
ahlervin | 4:767fd282dd9c | 386 | } |
ahlervin | 4:767fd282dd9c | 387 | |
ahlervin | 4:767fd282dd9c | 388 | } |
ahlervin | 4:767fd282dd9c | 389 | |
ahlervin | 4:767fd282dd9c | 390 | } |