Diff: Regler.cpp

Revision:

8:d0a27278c108

Parent:

7:862d80e0ea2d

--- a/Regler.cpp	Fri May 04 16:26:59 2018 +0000
+++ b/Regler.cpp	Mon May 07 14:11:06 2018 +0000
@@ -13,9 +13,9 @@
 
 using namespace std;
 
-const float Regler :: PERIOD = 0.2f;
+const float Regler :: PERIOD = 0.001f;
 const int Regler :: FIXSPEED = 50;
-float faktor = 0.1;
+float faktor = 0.12;
 
 
 
@@ -32,7 +32,7 @@
     }
     
     void Regler::setSpeed (){
-        measR2 = iRSensor.readR();            // Converts and read the analog input value (value from 0.0 to 1.0)
+        measR2 = iRSensor.readR();            // Converts and read the analog input value
         measL2 = iRSensor.readL();             
         
         if((measR2 > 100) && (measL2 < 100)) {                //keine Wnad rechts
@@ -89,7 +89,7 @@
         }
         if ((measR2 < measL2)&& (measL2 - measR2 > 3)) {              //IR Sensor werte werden verglichen und die Korrektur wird berechnet
             div1 = measR2 - measL2;                             // An beiden seinen Wände
-            kor1 = 0.1f*div1;
+            kor1 = 0.12f*div1;
                 div2 = 0;
                 div3 = 0;
                 div4 = 0;
@@ -99,7 +99,7 @@
             SpeedL = FIXSPEED + kor1;
         } else if ((measR2 > measL2) && (measR2 - measL2 >3)) {
             div2 = measL2 - measR2;
-            kor2 = 0.1f*div2;
+            kor2 = 0.12f*div2;
                 div1 = 0;
                 div3 = 0;
                 div4 = 0;