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Dependencies: mbed
Fork of Roboshark_V9 by
Fahren.cpp@3:e4264cb5b9a9, 2018-04-23 (annotated)
- Committer:
- Jacqueline
- Date:
- Mon Apr 23 12:19:12 2018 +0000
- Revision:
- 3:e4264cb5b9a9
- Parent:
- 2:402b1a74fff6
- Child:
- 4:767fd282dd9c
neu
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Jacqueline | 0:6d0671ae4648 | 1 | #include "Fahren.h" |
Jacqueline | 0:6d0671ae4648 | 2 | #include <mbed.h> |
Jacqueline | 0:6d0671ae4648 | 3 | |
Jacqueline | 0:6d0671ae4648 | 4 | |
Jacqueline | 0:6d0671ae4648 | 5 | //Konstruktor |
Jacqueline | 0:6d0671ae4648 | 6 | Fahren::Fahren(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight): |
Jacqueline | 0:6d0671ae4648 | 7 | controller(controller), counterLeft(counterLeft), counterRight(counterRight) |
Jacqueline | 0:6d0671ae4648 | 8 | |
Jacqueline | 0:6d0671ae4648 | 9 | {} |
Jacqueline | 0:6d0671ae4648 | 10 | //Dekonstruktor |
Jacqueline | 0:6d0671ae4648 | 11 | Fahren::~Fahren() {} |
Jacqueline | 0:6d0671ae4648 | 12 | |
Jacqueline | 0:6d0671ae4648 | 13 | |
Jacqueline | 0:6d0671ae4648 | 14 | |
Jacqueline | 0:6d0671ae4648 | 15 | //Implementation der Methode geradeaus fahren |
Jacqueline | 0:6d0671ae4648 | 16 | void Fahren::geradeaus(){ |
Jacqueline | 0:6d0671ae4648 | 17 | |
Jacqueline | 0:6d0671ae4648 | 18 | //einlesen des aktuellen Encoder standes |
Jacqueline | 0:6d0671ae4648 | 19 | initialClicksRight = counterRight.read(); |
Jacqueline | 0:6d0671ae4648 | 20 | initialClicksLeft = counterLeft.read(); |
Jacqueline | 0:6d0671ae4648 | 21 | |
Jacqueline | 0:6d0671ae4648 | 22 | //Anzahl Clicks die der Encoder zählen soll |
Jacqueline | 0:6d0671ae4648 | 23 | wegRechts = 1767; |
Jacqueline | 0:6d0671ae4648 | 24 | wegLinks = 1767; |
Jacqueline | 0:6d0671ae4648 | 25 | |
Jacqueline | 0:6d0671ae4648 | 26 | //Geschwindigkeit |
Jacqueline | 0:6d0671ae4648 | 27 | speedRight = 50; |
Jacqueline | 0:6d0671ae4648 | 28 | speedLeft = 50; |
Jacqueline | 0:6d0671ae4648 | 29 | |
Jacqueline | 0:6d0671ae4648 | 30 | //Zustand, dass der Roboter nicht gestoppt hat |
Jacqueline | 0:6d0671ae4648 | 31 | stopRight = false; |
Jacqueline | 0:6d0671ae4648 | 32 | stopLeft = false; |
Jacqueline | 0:6d0671ae4648 | 33 | |
Jacqueline | 0:6d0671ae4648 | 34 | //Drehrichtung der Motoren |
Jacqueline | 0:6d0671ae4648 | 35 | controller.setDesiredSpeedRight(speedRight); |
Jacqueline | 0:6d0671ae4648 | 36 | controller.setDesiredSpeedLeft(-(speedLeft)); |
Jacqueline | 0:6d0671ae4648 | 37 | |
Jacqueline | 0:6d0671ae4648 | 38 | |
Jacqueline | 0:6d0671ae4648 | 39 | while(1){ |
Jacqueline | 0:6d0671ae4648 | 40 | |
Jacqueline | 0:6d0671ae4648 | 41 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 42 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 43 | |
Jacqueline | 0:6d0671ae4648 | 44 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 45 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
Jacqueline | 0:6d0671ae4648 | 46 | controller.setDesiredSpeedRight(0); |
Jacqueline | 0:6d0671ae4648 | 47 | stopRight = true; |
Jacqueline | 0:6d0671ae4648 | 48 | } |
Jacqueline | 0:6d0671ae4648 | 49 | |
Jacqueline | 0:6d0671ae4648 | 50 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 51 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
Jacqueline | 0:6d0671ae4648 | 52 | controller.setDesiredSpeedLeft(0); |
Jacqueline | 0:6d0671ae4648 | 53 | stopLeft = true; |
Jacqueline | 0:6d0671ae4648 | 54 | } |
Jacqueline | 0:6d0671ae4648 | 55 | |
Jacqueline | 0:6d0671ae4648 | 56 | if(stopRight == true && stopLeft == true){ |
Jacqueline | 0:6d0671ae4648 | 57 | return; |
Jacqueline | 0:6d0671ae4648 | 58 | } |
Jacqueline | 0:6d0671ae4648 | 59 | |
Jacqueline | 0:6d0671ae4648 | 60 | } |
Jacqueline | 0:6d0671ae4648 | 61 | |
Jacqueline | 0:6d0671ae4648 | 62 | } |
Jacqueline | 0:6d0671ae4648 | 63 | |
Jacqueline | 0:6d0671ae4648 | 64 | |
Jacqueline | 0:6d0671ae4648 | 65 | |
Jacqueline | 0:6d0671ae4648 | 66 | //Implementation der Methode 90 Grad Rechtsdrehen |
Jacqueline | 0:6d0671ae4648 | 67 | void Fahren::rechts90() { |
Jacqueline | 0:6d0671ae4648 | 68 | |
Jacqueline | 0:6d0671ae4648 | 69 | //einlesen des aktuellen Encoder standes |
Jacqueline | 0:6d0671ae4648 | 70 | initialClicksRight = counterRight.read(); |
Jacqueline | 0:6d0671ae4648 | 71 | initialClicksLeft = counterLeft.read(); |
Jacqueline | 0:6d0671ae4648 | 72 | |
Jacqueline | 0:6d0671ae4648 | 73 | //Anzahl Clicks die der Encoder zählen soll |
Jacqueline | 3:e4264cb5b9a9 | 74 | wegRechts = 878; |
Jacqueline | 3:e4264cb5b9a9 | 75 | wegLinks = 878; |
Jacqueline | 0:6d0671ae4648 | 76 | |
Jacqueline | 0:6d0671ae4648 | 77 | //Geschwindigkeit |
Jacqueline | 0:6d0671ae4648 | 78 | speedRight = 50; |
Jacqueline | 0:6d0671ae4648 | 79 | speedLeft = 50; |
Jacqueline | 0:6d0671ae4648 | 80 | |
Jacqueline | 0:6d0671ae4648 | 81 | //Zustand, dass der Roboter nicht gestoppt hat |
Jacqueline | 0:6d0671ae4648 | 82 | stopRight = false; |
Jacqueline | 0:6d0671ae4648 | 83 | stopLeft = false; |
Jacqueline | 0:6d0671ae4648 | 84 | |
Jacqueline | 0:6d0671ae4648 | 85 | //Drehrichtung der Motoren |
Jacqueline | 0:6d0671ae4648 | 86 | controller.setDesiredSpeedRight((speedRight)); |
Jacqueline | 0:6d0671ae4648 | 87 | controller.setDesiredSpeedLeft((speedLeft)); |
Jacqueline | 0:6d0671ae4648 | 88 | |
Jacqueline | 0:6d0671ae4648 | 89 | while(1){ |
Jacqueline | 0:6d0671ae4648 | 90 | |
Jacqueline | 0:6d0671ae4648 | 91 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 92 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 93 | |
Jacqueline | 0:6d0671ae4648 | 94 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 95 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
Jacqueline | 0:6d0671ae4648 | 96 | controller.setDesiredSpeedRight(0); |
Jacqueline | 0:6d0671ae4648 | 97 | stopRight = true; |
Jacqueline | 0:6d0671ae4648 | 98 | } |
Jacqueline | 0:6d0671ae4648 | 99 | |
Jacqueline | 0:6d0671ae4648 | 100 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 101 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
Jacqueline | 0:6d0671ae4648 | 102 | controller.setDesiredSpeedLeft(0); |
Jacqueline | 0:6d0671ae4648 | 103 | stopLeft = true; |
Jacqueline | 0:6d0671ae4648 | 104 | } |
Jacqueline | 0:6d0671ae4648 | 105 | |
Jacqueline | 0:6d0671ae4648 | 106 | if(stopRight == true && stopLeft == true){ |
Jacqueline | 0:6d0671ae4648 | 107 | return; |
Jacqueline | 0:6d0671ae4648 | 108 | } |
Jacqueline | 0:6d0671ae4648 | 109 | |
Jacqueline | 0:6d0671ae4648 | 110 | } |
Jacqueline | 0:6d0671ae4648 | 111 | |
Jacqueline | 0:6d0671ae4648 | 112 | } |
Jacqueline | 0:6d0671ae4648 | 113 | |
Jacqueline | 0:6d0671ae4648 | 114 | |
Jacqueline | 0:6d0671ae4648 | 115 | |
Jacqueline | 0:6d0671ae4648 | 116 | //Implementation der Methode 180 Grad Rechtsdrehen |
Jacqueline | 0:6d0671ae4648 | 117 | void Fahren::rechts180() { |
Jacqueline | 0:6d0671ae4648 | 118 | |
Jacqueline | 0:6d0671ae4648 | 119 | //einlesen des aktuellen Encoder standes |
Jacqueline | 0:6d0671ae4648 | 120 | initialClicksRight = counterRight.read(); |
Jacqueline | 0:6d0671ae4648 | 121 | initialClicksLeft = counterLeft.read(); |
Jacqueline | 0:6d0671ae4648 | 122 | |
Jacqueline | 0:6d0671ae4648 | 123 | //Anzahl Clicks die der Encoder zählen soll |
Jacqueline | 0:6d0671ae4648 | 124 | wegRechts = 1755; |
Jacqueline | 0:6d0671ae4648 | 125 | wegLinks = 1755; |
Jacqueline | 0:6d0671ae4648 | 126 | |
Jacqueline | 0:6d0671ae4648 | 127 | //Geschwindigkeit |
Jacqueline | 0:6d0671ae4648 | 128 | speedRight = 50; |
Jacqueline | 0:6d0671ae4648 | 129 | speedLeft = 50; |
Jacqueline | 0:6d0671ae4648 | 130 | |
Jacqueline | 0:6d0671ae4648 | 131 | //Zustand, dass der Roboter nicht gestoppt hat |
Jacqueline | 0:6d0671ae4648 | 132 | stopRight = false; |
Jacqueline | 0:6d0671ae4648 | 133 | stopLeft = false; |
Jacqueline | 0:6d0671ae4648 | 134 | |
Jacqueline | 0:6d0671ae4648 | 135 | //Drehrichtung der Motoren |
Jacqueline | 0:6d0671ae4648 | 136 | controller.setDesiredSpeedRight((speedRight)); |
Jacqueline | 0:6d0671ae4648 | 137 | controller.setDesiredSpeedLeft((speedLeft)); |
Jacqueline | 0:6d0671ae4648 | 138 | |
Jacqueline | 0:6d0671ae4648 | 139 | while(1){ |
Jacqueline | 0:6d0671ae4648 | 140 | |
Jacqueline | 0:6d0671ae4648 | 141 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 142 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 143 | |
Jacqueline | 0:6d0671ae4648 | 144 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 145 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
Jacqueline | 0:6d0671ae4648 | 146 | controller.setDesiredSpeedRight(0); |
Jacqueline | 0:6d0671ae4648 | 147 | stopRight = true; |
Jacqueline | 0:6d0671ae4648 | 148 | } |
Jacqueline | 0:6d0671ae4648 | 149 | |
Jacqueline | 0:6d0671ae4648 | 150 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 151 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
Jacqueline | 0:6d0671ae4648 | 152 | controller.setDesiredSpeedLeft(0); |
Jacqueline | 0:6d0671ae4648 | 153 | stopLeft = true; |
Jacqueline | 0:6d0671ae4648 | 154 | } |
Jacqueline | 0:6d0671ae4648 | 155 | |
Jacqueline | 0:6d0671ae4648 | 156 | if(stopRight == true && stopLeft == true){ |
Jacqueline | 0:6d0671ae4648 | 157 | return; |
Jacqueline | 0:6d0671ae4648 | 158 | } |
Jacqueline | 0:6d0671ae4648 | 159 | |
Jacqueline | 0:6d0671ae4648 | 160 | } |
Jacqueline | 0:6d0671ae4648 | 161 | |
Jacqueline | 0:6d0671ae4648 | 162 | } |
Jacqueline | 0:6d0671ae4648 | 163 | |
Jacqueline | 0:6d0671ae4648 | 164 | |
Jacqueline | 2:402b1a74fff6 | 165 | //Implementation der Methode 90 Grad Linksdrehen |
Jacqueline | 2:402b1a74fff6 | 166 | void Fahren::links90() { |
Jacqueline | 0:6d0671ae4648 | 167 | |
Jacqueline | 0:6d0671ae4648 | 168 | //einlesen des aktuellen Encoder standes |
Jacqueline | 0:6d0671ae4648 | 169 | initialClicksRight = counterRight.read(); |
Jacqueline | 0:6d0671ae4648 | 170 | initialClicksLeft = counterLeft.read(); |
Jacqueline | 0:6d0671ae4648 | 171 | |
Jacqueline | 0:6d0671ae4648 | 172 | //Anzahl Clicks die der Encoder zählen soll |
Jacqueline | 2:402b1a74fff6 | 173 | wegRechts = 878; |
Jacqueline | 2:402b1a74fff6 | 174 | wegLinks = 878; |
Jacqueline | 0:6d0671ae4648 | 175 | |
Jacqueline | 0:6d0671ae4648 | 176 | //Geschwindigkeit |
Jacqueline | 0:6d0671ae4648 | 177 | speedRight = 50; |
Jacqueline | 0:6d0671ae4648 | 178 | speedLeft = 50; |
Jacqueline | 0:6d0671ae4648 | 179 | |
Jacqueline | 0:6d0671ae4648 | 180 | //Zustand, dass der Roboter nicht gestoppt hat |
Jacqueline | 0:6d0671ae4648 | 181 | stopRight = false; |
Jacqueline | 0:6d0671ae4648 | 182 | stopLeft = false; |
Jacqueline | 0:6d0671ae4648 | 183 | |
Jacqueline | 0:6d0671ae4648 | 184 | //Drehrichtung der Motoren |
Jacqueline | 2:402b1a74fff6 | 185 | controller.setDesiredSpeedRight((-speedRight)); |
Jacqueline | 2:402b1a74fff6 | 186 | controller.setDesiredSpeedLeft((-speedLeft)); |
Jacqueline | 0:6d0671ae4648 | 187 | |
Jacqueline | 0:6d0671ae4648 | 188 | while(1){ |
Jacqueline | 0:6d0671ae4648 | 189 | |
Jacqueline | 0:6d0671ae4648 | 190 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 191 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 192 | |
Jacqueline | 0:6d0671ae4648 | 193 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 194 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
Jacqueline | 0:6d0671ae4648 | 195 | controller.setDesiredSpeedRight(0); |
Jacqueline | 0:6d0671ae4648 | 196 | stopRight = true; |
Jacqueline | 0:6d0671ae4648 | 197 | } |
Jacqueline | 0:6d0671ae4648 | 198 | |
Jacqueline | 0:6d0671ae4648 | 199 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 200 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
Jacqueline | 0:6d0671ae4648 | 201 | controller.setDesiredSpeedLeft(0); |
Jacqueline | 0:6d0671ae4648 | 202 | stopLeft = true; |
Jacqueline | 0:6d0671ae4648 | 203 | } |
Jacqueline | 0:6d0671ae4648 | 204 | |
Jacqueline | 0:6d0671ae4648 | 205 | if(stopRight == true && stopLeft == true){ |
Jacqueline | 0:6d0671ae4648 | 206 | return; |
Jacqueline | 0:6d0671ae4648 | 207 | } |
Jacqueline | 0:6d0671ae4648 | 208 | |
Jacqueline | 0:6d0671ae4648 | 209 | } |
Jacqueline | 0:6d0671ae4648 | 210 | |
Jacqueline | 0:6d0671ae4648 | 211 | } |
Jacqueline | 0:6d0671ae4648 | 212 | |
Jacqueline | 0:6d0671ae4648 | 213 | |
Jacqueline | 0:6d0671ae4648 | 214 |