Roboshark / Mbed 2 deprecated Roboshark_V10

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Dependencies:   mbed

Fork of Roboshark_V9 by Roboshark

Diff: Fahren.cpp

Revision:
12:cd07a80f0a9a
Parent:
11:474ad54d2595
Child:
13:1687f97d4d82
--- a/Fahren.cpp	Tue May 08 09:22:32 2018 +0000
+++ b/Fahren.cpp	Tue May 08 10:48:05 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 = 90.0f;
-SpeedL = 90.0f;
+SpeedR = 100.0f;
+SpeedL = 100.0f;
 disF = 0.0f;
 //ticker.attach(callback(this, &Fahren::reset), PERIOD);
 }
@@ -39,8 +39,8 @@
     initialClicksLeft = counterLeft.read();
     
     //Anzahl Clicks die der Encoder zählen soll
-    wegRechts = 1769;
-    wegLinks = 1769;
+    wegRechts = 1675;
+    wegLinks = 1675;
 
     
     //Zustand, dass der Roboter nicht gestoppt hat
@@ -50,7 +50,7 @@
     reglerEinL = 1;
     
     while(1){
-    float diff = (iRSensor.readR() - iRSensor.readL())*0.95f;            //Regler
+    float diff = (iRSensor.readR() - iRSensor.readL())*0.85f;            //Regler
     if(iRSensor.readR()>80.0f) diff=0;
     if(iRSensor.readL()>80.0f) diff=0;
     //printf("diff =%f \n",diff);