inkl Line Sensor
Dependencies: mbed
Fork of Roboshark_V2 by
StateMachine.cpp@0:6d0671ae4648, 2018-04-23 (annotated)
- Committer:
- Jacqueline
- Date:
- Mon Apr 23 11:28:11 2018 +0000
- Revision:
- 0:6d0671ae4648
kann fahren und drehen
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Jacqueline | 0:6d0671ae4648 | 1 | |
Jacqueline | 0:6d0671ae4648 | 2 | // Statemachine |
Jacqueline | 0:6d0671ae4648 | 3 | //V04.18 |
Jacqueline | 0:6d0671ae4648 | 4 | // V. Ahlers |
Jacqueline | 0:6d0671ae4648 | 5 | |
Jacqueline | 0:6d0671ae4648 | 6 | #include <mbed.h> |
Jacqueline | 0:6d0671ae4648 | 7 | #include "StateMachine.h" |
Jacqueline | 0:6d0671ae4648 | 8 | |
Jacqueline | 0:6d0671ae4648 | 9 | using namespace std; |
Jacqueline | 0:6d0671ae4648 | 10 | |
Jacqueline | 0:6d0671ae4648 | 11 | StateMachine::StateMachine(int IrR, int IrL, int IrF) : IrR(IrR), IrL(IrL), IrF(IrF) {} |
Jacqueline | 0:6d0671ae4648 | 12 | |
Jacqueline | 0:6d0671ae4648 | 13 | StateMachine::~StateMachine (){} |
Jacqueline | 0:6d0671ae4648 | 14 | |
Jacqueline | 0:6d0671ae4648 | 15 | int StateMachine :: drive() { |
Jacqueline | 0:6d0671ae4648 | 16 | |
Jacqueline | 0:6d0671ae4648 | 17 | |
Jacqueline | 0:6d0671ae4648 | 18 | |
Jacqueline | 0:6d0671ae4648 | 19 | if((IrR==0) && (IrL==0) && (IrF==1)){ |
Jacqueline | 0:6d0671ae4648 | 20 | caseDrive = 2; // Folge: 90 Grad nach rechts drehen |
Jacqueline | 0:6d0671ae4648 | 21 | }else if ((IrR==0) && (IrL==1) && (IrF==0)){ |
Jacqueline | 0:6d0671ae4648 | 22 | caseDrive = 2; // Folge: 90 Grad nach rechts drehen |
Jacqueline | 0:6d0671ae4648 | 23 | }else if ((IrR==0) && (IrL==1) && (IrF==1)){ |
Jacqueline | 0:6d0671ae4648 | 24 | caseDrive = 2; // Folge: 90 Grad nach rechts drehen |
Jacqueline | 0:6d0671ae4648 | 25 | }else if ((IrR==1) && (IrL==0) && (IrF==0)){ |
Jacqueline | 0:6d0671ae4648 | 26 | caseDrive = 1; // Folge: geradeaus fahren |
Jacqueline | 0:6d0671ae4648 | 27 | }else if ((IrR==1) && (IrL==0) && (IrF==1)){ |
Jacqueline | 0:6d0671ae4648 | 28 | caseDrive = 3; // Folge: 270 Grad nach rechts drehen |
Jacqueline | 0:6d0671ae4648 | 29 | }else if ((IrR==1) && (IrL==1) && (IrF==0)){ |
Jacqueline | 0:6d0671ae4648 | 30 | caseDrive = 1; // Folge: geradeaus fahren |
Jacqueline | 0:6d0671ae4648 | 31 | }else if ((IrR==1) && (IrL==1) && (IrF==1)){ |
Jacqueline | 0:6d0671ae4648 | 32 | caseDrive = 4; // Folge: 180 Grad nach rechts drehen |
Jacqueline | 0:6d0671ae4648 | 33 | }else{ caseDrive=0; |
Jacqueline | 0:6d0671ae4648 | 34 | } |
Jacqueline | 0:6d0671ae4648 | 35 | |
Jacqueline | 0:6d0671ae4648 | 36 | return caseDrive; |
Jacqueline | 0:6d0671ae4648 | 37 | } |