Roboshark / Mbed 2 deprecated Roboshark_V10

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Dependencies:   mbed

Fork of Roboshark_V9 by Roboshark

Diff: Fahren.cpp

Revision:
15:8e8b23d4abb4
Parent:
14:feafcee53fed
--- a/Fahren.cpp	Mon May 14 22:11:47 2018 +0000
+++ b/Fahren.cpp	Tue May 15 21:50:26 2018 +0000
@@ -17,8 +17,8 @@
 //Konstruktor
 Fahren::Fahren(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight, IRSensor& iRSensor):
     controller(controller), counterLeft(counterLeft), counterRight(counterRight), iRSensor (iRSensor){
-SpeedR = 120.0f; //120
-SpeedL = 120.0f; //120
+SpeedR = 90.0f; //120
+SpeedL = 90.0f; //120
 disF = 0.0f;
 //ticker.attach(callback(this, &Fahren::reset), PERIOD);
 }
@@ -50,13 +50,13 @@
     reglerEinL = 1;
     
     while(1){
-    float diff = (iRSensor.readR() - iRSensor.readL())*0.81f;            //Regler 0.81
-    if(iRSensor.readR()>80.0f) diff=0;
-    if(iRSensor.readL()>80.0f) diff=0;
+    float diff = (iRSensor.readR() - iRSensor.readL())*0.95f;            //Regler 0.81
+    if(iRSensor.readR()>80.0f) diff= 0;
+    if(iRSensor.readL()>80.0f) diff= 0;
     //printf("diff =%f \n",diff);
     controller.setDesiredSpeedRight(SpeedR+diff);
     controller.setDesiredSpeedLeft(-(SpeedL-diff));
-    
+    printf("diff = %f\n",diff);
     wait(0.02); //0.02
        
        // printf("Encoderrechts %d \n\r", counterRight.read());                   //Debugging Zweck (Putty benutzen!)