Roboshark
/
Roboshark_V6
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Dependencies: mbed
Fork of
Roboshark_V5
by 
Roboshark
Diff: StateMachine.cpp
- Revision:
- 0:6d0671ae4648
- Child:
- 6:7bbcdd07bc2d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/StateMachine.cpp Mon Apr 23 11:28:11 2018 +0000
@@ -0,0 +1,37 @@
+
+// Statemachine
+//V04.18
+// V. Ahlers
+
+#include <mbed.h>
+#include "StateMachine.h"
+
+using namespace std;
+
+StateMachine::StateMachine(int IrR, int IrL, int IrF) : IrR(IrR), IrL(IrL), IrF(IrF) {}
+
+StateMachine::~StateMachine (){}
+
+int StateMachine :: drive() {
+
+
+
+ if((IrR==0) && (IrL==0) && (IrF==1)){
+ caseDrive = 2; // Folge: 90 Grad nach rechts drehen
+ }else if ((IrR==0) && (IrL==1) && (IrF==0)){
+ caseDrive = 2; // Folge: 90 Grad nach rechts drehen
+ }else if ((IrR==0) && (IrL==1) && (IrF==1)){
+ caseDrive = 2; // Folge: 90 Grad nach rechts drehen
+ }else if ((IrR==1) && (IrL==0) && (IrF==0)){
+ caseDrive = 1; // Folge: geradeaus fahren
+ }else if ((IrR==1) && (IrL==0) && (IrF==1)){
+ caseDrive = 3; // Folge: 270 Grad nach rechts drehen
+ }else if ((IrR==1) && (IrL==1) && (IrF==0)){
+ caseDrive = 1; // Folge: geradeaus fahren
+ }else if ((IrR==1) && (IrL==1) && (IrF==1)){
+ caseDrive = 4; // Folge: 180 Grad nach rechts drehen
+ }else{ caseDrive=0;
+ }
+
+ return caseDrive;
+}
\ No newline at end of file