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Dependencies: mbed
Fork of Roboshark_V8 by
Fahren.cpp@13:1687f97d4d82, 2018-05-09 (annotated)
- Committer:
- ahlervin
- Date:
- Wed May 09 17:08:24 2018 +0000
- Revision:
- 13:1687f97d4d82
- Parent:
- 12:cd07a80f0a9a
Optimaler Regler und Schnellster Speed
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ahlervin | 9:feabe0b7cea4 | 1 | /*Roboshark V7 |
ahlervin | 6:7bbcdd07bc2d | 2 | Fahren.cpp |
ahlervin | 6:7bbcdd07bc2d | 3 | Erstellt: J. Blunschi |
ahlervin | 6:7bbcdd07bc2d | 4 | geändert: V.Ahlers |
ahlervin | 6:7bbcdd07bc2d | 5 | V.5.18 |
ahlervin | 6:7bbcdd07bc2d | 6 | */ |
ahlervin | 6:7bbcdd07bc2d | 7 | |
Jacqueline | 0:6d0671ae4648 | 8 | #include "Fahren.h" |
Jacqueline | 0:6d0671ae4648 | 9 | #include <mbed.h> |
ahlervin | 9:feabe0b7cea4 | 10 | #include "IRSensor.h" |
Jacqueline | 0:6d0671ae4648 | 11 | |
Jacqueline | 0:6d0671ae4648 | 12 | |
ahlervin | 6:7bbcdd07bc2d | 13 | using namespace std; |
ahlervin | 6:7bbcdd07bc2d | 14 | |
ahlervin | 10:fb2195d0de0f | 15 | const float Fahren :: PERIOD = 5.0f; |
ahlervin | 7:862d80e0ea2d | 16 | |
ahlervin | 9:feabe0b7cea4 | 17 | //Konstruktor |
ahlervin | 9:feabe0b7cea4 | 18 | Fahren::Fahren(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight, IRSensor& iRSensor): |
ahlervin | 9:feabe0b7cea4 | 19 | controller(controller), counterLeft(counterLeft), counterRight(counterRight), iRSensor (iRSensor){ |
ahlervin | 13:1687f97d4d82 | 20 | SpeedR = 120.0f; //120 |
ahlervin | 13:1687f97d4d82 | 21 | SpeedL = 120.0f; //120 |
ahlervin | 9:feabe0b7cea4 | 22 | disF = 0.0f; |
ahlervin | 10:fb2195d0de0f | 23 | //ticker.attach(callback(this, &Fahren::reset), PERIOD); |
ahlervin | 9:feabe0b7cea4 | 24 | } |
ahlervin | 9:feabe0b7cea4 | 25 | //Dekonstruktor |
ahlervin | 10:fb2195d0de0f | 26 | Fahren::~Fahren() { |
ahlervin | 10:fb2195d0de0f | 27 | //ticker.detach(); |
ahlervin | 10:fb2195d0de0f | 28 | } |
Jacqueline | 0:6d0671ae4648 | 29 | |
ahlervin | 10:fb2195d0de0f | 30 | //void Fahren::reset(){ |
ahlervin | 10:fb2195d0de0f | 31 | //controller.resetEncoder(); |
ahlervin | 10:fb2195d0de0f | 32 | //} |
ahlervin | 9:feabe0b7cea4 | 33 | |
ahlervin | 6:7bbcdd07bc2d | 34 | //Implementation der Methode geradeaus fahren geregelt |
ahlervin | 6:7bbcdd07bc2d | 35 | void Fahren::geradeausG(){ |
ahlervin | 6:7bbcdd07bc2d | 36 | |
ahlervin | 6:7bbcdd07bc2d | 37 | //einlesen des aktuellen Encoder standes |
ahlervin | 6:7bbcdd07bc2d | 38 | initialClicksRight = counterRight.read(); |
ahlervin | 6:7bbcdd07bc2d | 39 | initialClicksLeft = counterLeft.read(); |
ahlervin | 6:7bbcdd07bc2d | 40 | |
ahlervin | 6:7bbcdd07bc2d | 41 | //Anzahl Clicks die der Encoder zählen soll |
ahlervin | 12:cd07a80f0a9a | 42 | wegRechts = 1675; |
ahlervin | 12:cd07a80f0a9a | 43 | wegLinks = 1675; |
ahlervin | 7:862d80e0ea2d | 44 | |
ahlervin | 6:7bbcdd07bc2d | 45 | |
ahlervin | 6:7bbcdd07bc2d | 46 | //Zustand, dass der Roboter nicht gestoppt hat |
ahlervin | 6:7bbcdd07bc2d | 47 | stopRight = false; |
ahlervin | 6:7bbcdd07bc2d | 48 | stopLeft = false; |
ahlervin | 8:d0a27278c108 | 49 | reglerEinR = 1; |
ahlervin | 8:d0a27278c108 | 50 | reglerEinL = 1; |
ahlervin | 6:7bbcdd07bc2d | 51 | |
ahlervin | 6:7bbcdd07bc2d | 52 | while(1){ |
ahlervin | 13:1687f97d4d82 | 53 | float diff = (iRSensor.readR() - iRSensor.readL())*0.81f; //Regler 0.81 |
ahlervin | 11:474ad54d2595 | 54 | if(iRSensor.readR()>80.0f) diff=0; |
ahlervin | 11:474ad54d2595 | 55 | if(iRSensor.readL()>80.0f) diff=0; |
ahlervin | 8:d0a27278c108 | 56 | //printf("diff =%f \n",diff); |
ahlervin | 8:d0a27278c108 | 57 | controller.setDesiredSpeedRight(SpeedR+diff); |
ahlervin | 8:d0a27278c108 | 58 | controller.setDesiredSpeedLeft(-(SpeedL-diff)); |
ahlervin | 8:d0a27278c108 | 59 | |
ahlervin | 13:1687f97d4d82 | 60 | wait(0.02); //0.02 |
ahlervin | 6:7bbcdd07bc2d | 61 | |
ahlervin | 6:7bbcdd07bc2d | 62 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
ahlervin | 6:7bbcdd07bc2d | 63 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
ahlervin | 6:7bbcdd07bc2d | 64 | |
ahlervin | 6:7bbcdd07bc2d | 65 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
ahlervin | 8:d0a27278c108 | 66 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts || iRSensor.readF() < 50.0f){ |
ahlervin | 6:7bbcdd07bc2d | 67 | controller.setDesiredSpeedRight(0); |
ahlervin | 6:7bbcdd07bc2d | 68 | stopRight = true; |
ahlervin | 8:d0a27278c108 | 69 | reglerEinR = 0; |
ahlervin | 6:7bbcdd07bc2d | 70 | } |
ahlervin | 6:7bbcdd07bc2d | 71 | |
ahlervin | 6:7bbcdd07bc2d | 72 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
ahlervin | 8:d0a27278c108 | 73 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks || iRSensor.readF() < 50.0f){ |
ahlervin | 6:7bbcdd07bc2d | 74 | controller.setDesiredSpeedLeft(0); |
ahlervin | 6:7bbcdd07bc2d | 75 | stopLeft = true; |
ahlervin | 8:d0a27278c108 | 76 | reglerEinL = 0; |
ahlervin | 6:7bbcdd07bc2d | 77 | } |
ahlervin | 6:7bbcdd07bc2d | 78 | |
ahlervin | 6:7bbcdd07bc2d | 79 | if(stopRight == true && stopLeft == true){ |
ahlervin | 10:fb2195d0de0f | 80 | //controller.resetEncoder(); |
ahlervin | 6:7bbcdd07bc2d | 81 | return; |
ahlervin | 6:7bbcdd07bc2d | 82 | } |
ahlervin | 6:7bbcdd07bc2d | 83 | |
ahlervin | 6:7bbcdd07bc2d | 84 | } |
ahlervin | 6:7bbcdd07bc2d | 85 | |
ahlervin | 6:7bbcdd07bc2d | 86 | } |
ahlervin | 6:7bbcdd07bc2d | 87 | |
Jacqueline | 0:6d0671ae4648 | 88 | //Implementation der Methode 90 Grad Rechtsdrehen |
Jacqueline | 0:6d0671ae4648 | 89 | void Fahren::rechts90() { |
Jacqueline | 0:6d0671ae4648 | 90 | |
Jacqueline | 0:6d0671ae4648 | 91 | //einlesen des aktuellen Encoder standes |
Jacqueline | 0:6d0671ae4648 | 92 | initialClicksRight = counterRight.read(); |
Jacqueline | 0:6d0671ae4648 | 93 | initialClicksLeft = counterLeft.read(); |
Jacqueline | 0:6d0671ae4648 | 94 | |
Jacqueline | 0:6d0671ae4648 | 95 | //Anzahl Clicks die der Encoder zählen soll |
ahlervin | 7:862d80e0ea2d | 96 | wegRechts = 868; |
ahlervin | 7:862d80e0ea2d | 97 | wegLinks = 868; |
Jacqueline | 0:6d0671ae4648 | 98 | |
Jacqueline | 0:6d0671ae4648 | 99 | //Zustand, dass der Roboter nicht gestoppt hat |
Jacqueline | 0:6d0671ae4648 | 100 | stopRight = false; |
Jacqueline | 0:6d0671ae4648 | 101 | stopLeft = false; |
Jacqueline | 0:6d0671ae4648 | 102 | |
Jacqueline | 0:6d0671ae4648 | 103 | //Drehrichtung der Motoren |
ahlervin | 7:862d80e0ea2d | 104 | controller.setDesiredSpeedRight((SpeedR)); |
ahlervin | 7:862d80e0ea2d | 105 | controller.setDesiredSpeedLeft((SpeedL)); |
ahlervin | 7:862d80e0ea2d | 106 | //printf("SpeedR in F = %f\n",SpeedR); |
ahlervin | 7:862d80e0ea2d | 107 | //printf("SpeedL in F = %f\n",SpeedL); |
Jacqueline | 0:6d0671ae4648 | 108 | while(1){ |
Jacqueline | 0:6d0671ae4648 | 109 | |
Jacqueline | 0:6d0671ae4648 | 110 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 111 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 112 | |
Jacqueline | 0:6d0671ae4648 | 113 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 114 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
Jacqueline | 0:6d0671ae4648 | 115 | controller.setDesiredSpeedRight(0); |
Jacqueline | 0:6d0671ae4648 | 116 | stopRight = true; |
Jacqueline | 0:6d0671ae4648 | 117 | } |
Jacqueline | 0:6d0671ae4648 | 118 | |
Jacqueline | 0:6d0671ae4648 | 119 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 120 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
Jacqueline | 0:6d0671ae4648 | 121 | controller.setDesiredSpeedLeft(0); |
Jacqueline | 0:6d0671ae4648 | 122 | stopLeft = true; |
Jacqueline | 0:6d0671ae4648 | 123 | } |
Jacqueline | 0:6d0671ae4648 | 124 | |
Jacqueline | 0:6d0671ae4648 | 125 | if(stopRight == true && stopLeft == true){ |
Jacqueline | 0:6d0671ae4648 | 126 | return; |
Jacqueline | 0:6d0671ae4648 | 127 | } |
Jacqueline | 0:6d0671ae4648 | 128 | |
Jacqueline | 0:6d0671ae4648 | 129 | } |
Jacqueline | 0:6d0671ae4648 | 130 | |
Jacqueline | 0:6d0671ae4648 | 131 | } |
Jacqueline | 0:6d0671ae4648 | 132 | |
Jacqueline | 0:6d0671ae4648 | 133 | |
Jacqueline | 0:6d0671ae4648 | 134 | |
Jacqueline | 0:6d0671ae4648 | 135 | //Implementation der Methode 180 Grad Rechtsdrehen |
Jacqueline | 0:6d0671ae4648 | 136 | void Fahren::rechts180() { |
Jacqueline | 0:6d0671ae4648 | 137 | |
Jacqueline | 0:6d0671ae4648 | 138 | //einlesen des aktuellen Encoder standes |
Jacqueline | 0:6d0671ae4648 | 139 | initialClicksRight = counterRight.read(); |
Jacqueline | 0:6d0671ae4648 | 140 | initialClicksLeft = counterLeft.read(); |
Jacqueline | 0:6d0671ae4648 | 141 | |
Jacqueline | 0:6d0671ae4648 | 142 | //Anzahl Clicks die der Encoder zählen soll |
ahlervin | 7:862d80e0ea2d | 143 | wegRechts = 1752; |
ahlervin | 7:862d80e0ea2d | 144 | wegLinks = 1752; |
Jacqueline | 0:6d0671ae4648 | 145 | |
Jacqueline | 0:6d0671ae4648 | 146 | //Zustand, dass der Roboter nicht gestoppt hat |
Jacqueline | 0:6d0671ae4648 | 147 | stopRight = false; |
Jacqueline | 0:6d0671ae4648 | 148 | stopLeft = false; |
Jacqueline | 0:6d0671ae4648 | 149 | |
Jacqueline | 0:6d0671ae4648 | 150 | //Drehrichtung der Motoren |
ahlervin | 7:862d80e0ea2d | 151 | controller.setDesiredSpeedRight((SpeedR)); |
ahlervin | 7:862d80e0ea2d | 152 | controller.setDesiredSpeedLeft((SpeedL)); |
Jacqueline | 0:6d0671ae4648 | 153 | |
Jacqueline | 0:6d0671ae4648 | 154 | while(1){ |
Jacqueline | 0:6d0671ae4648 | 155 | |
Jacqueline | 0:6d0671ae4648 | 156 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 157 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 158 | |
Jacqueline | 0:6d0671ae4648 | 159 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 160 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
Jacqueline | 0:6d0671ae4648 | 161 | controller.setDesiredSpeedRight(0); |
Jacqueline | 0:6d0671ae4648 | 162 | stopRight = true; |
Jacqueline | 0:6d0671ae4648 | 163 | } |
Jacqueline | 0:6d0671ae4648 | 164 | |
Jacqueline | 0:6d0671ae4648 | 165 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 166 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
Jacqueline | 0:6d0671ae4648 | 167 | controller.setDesiredSpeedLeft(0); |
Jacqueline | 0:6d0671ae4648 | 168 | stopLeft = true; |
Jacqueline | 0:6d0671ae4648 | 169 | } |
Jacqueline | 0:6d0671ae4648 | 170 | |
Jacqueline | 0:6d0671ae4648 | 171 | if(stopRight == true && stopLeft == true){ |
Jacqueline | 0:6d0671ae4648 | 172 | return; |
Jacqueline | 0:6d0671ae4648 | 173 | } |
Jacqueline | 0:6d0671ae4648 | 174 | |
Jacqueline | 0:6d0671ae4648 | 175 | } |
Jacqueline | 0:6d0671ae4648 | 176 | |
Jacqueline | 0:6d0671ae4648 | 177 | } |
Jacqueline | 0:6d0671ae4648 | 178 | |
Jacqueline | 0:6d0671ae4648 | 179 | |
Jacqueline | 2:402b1a74fff6 | 180 | //Implementation der Methode 90 Grad Linksdrehen |
Jacqueline | 2:402b1a74fff6 | 181 | void Fahren::links90() { |
Jacqueline | 0:6d0671ae4648 | 182 | |
Jacqueline | 0:6d0671ae4648 | 183 | //einlesen des aktuellen Encoder standes |
Jacqueline | 0:6d0671ae4648 | 184 | initialClicksRight = counterRight.read(); |
Jacqueline | 0:6d0671ae4648 | 185 | initialClicksLeft = counterLeft.read(); |
Jacqueline | 0:6d0671ae4648 | 186 | |
Jacqueline | 0:6d0671ae4648 | 187 | //Anzahl Clicks die der Encoder zählen soll |
ahlervin | 8:d0a27278c108 | 188 | wegRechts = 868; |
ahlervin | 8:d0a27278c108 | 189 | wegLinks = 868; |
Jacqueline | 0:6d0671ae4648 | 190 | |
Jacqueline | 0:6d0671ae4648 | 191 | //Zustand, dass der Roboter nicht gestoppt hat |
Jacqueline | 0:6d0671ae4648 | 192 | stopRight = false; |
Jacqueline | 0:6d0671ae4648 | 193 | stopLeft = false; |
Jacqueline | 0:6d0671ae4648 | 194 | |
Jacqueline | 0:6d0671ae4648 | 195 | //Drehrichtung der Motoren |
ahlervin | 7:862d80e0ea2d | 196 | controller.setDesiredSpeedRight((-SpeedR)); |
ahlervin | 7:862d80e0ea2d | 197 | controller.setDesiredSpeedLeft((-SpeedL)); |
Jacqueline | 0:6d0671ae4648 | 198 | |
Jacqueline | 0:6d0671ae4648 | 199 | while(1){ |
Jacqueline | 0:6d0671ae4648 | 200 | |
Jacqueline | 0:6d0671ae4648 | 201 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 202 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
Jacqueline | 0:6d0671ae4648 | 203 | |
Jacqueline | 0:6d0671ae4648 | 204 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 205 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
Jacqueline | 0:6d0671ae4648 | 206 | controller.setDesiredSpeedRight(0); |
Jacqueline | 0:6d0671ae4648 | 207 | stopRight = true; |
Jacqueline | 0:6d0671ae4648 | 208 | } |
Jacqueline | 0:6d0671ae4648 | 209 | |
Jacqueline | 0:6d0671ae4648 | 210 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
Jacqueline | 0:6d0671ae4648 | 211 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
Jacqueline | 0:6d0671ae4648 | 212 | controller.setDesiredSpeedLeft(0); |
Jacqueline | 0:6d0671ae4648 | 213 | stopLeft = true; |
Jacqueline | 0:6d0671ae4648 | 214 | } |
Jacqueline | 0:6d0671ae4648 | 215 | |
Jacqueline | 0:6d0671ae4648 | 216 | if(stopRight == true && stopLeft == true){ |
Jacqueline | 0:6d0671ae4648 | 217 | return; |
Jacqueline | 0:6d0671ae4648 | 218 | } |
Jacqueline | 0:6d0671ae4648 | 219 | |
Jacqueline | 0:6d0671ae4648 | 220 | } |
Jacqueline | 0:6d0671ae4648 | 221 | |
Jacqueline | 0:6d0671ae4648 | 222 | } |
Jacqueline | 0:6d0671ae4648 | 223 | |
ahlervin | 4:767fd282dd9c | 224 | |
ahlervin | 4:767fd282dd9c | 225 | //Implementation der Methode Ziel erreicht |
ahlervin | 4:767fd282dd9c | 226 | void Fahren::ziel() { |
ahlervin | 4:767fd282dd9c | 227 | |
ahlervin | 4:767fd282dd9c | 228 | //einlesen des aktuellen Encoder standes |
ahlervin | 4:767fd282dd9c | 229 | initialClicksRight = counterRight.read(); |
ahlervin | 4:767fd282dd9c | 230 | initialClicksLeft = counterLeft.read(); |
Jacqueline | 0:6d0671ae4648 | 231 | |
ahlervin | 4:767fd282dd9c | 232 | //Anzahl Clicks die der Encoder zählen soll |
ahlervin | 4:767fd282dd9c | 233 | wegRechts = 7050; |
ahlervin | 4:767fd282dd9c | 234 | wegLinks = 7050; |
ahlervin | 4:767fd282dd9c | 235 | |
ahlervin | 4:767fd282dd9c | 236 | //Zustand, dass der Roboter nicht gestoppt hat |
ahlervin | 4:767fd282dd9c | 237 | stopRight = false; |
ahlervin | 4:767fd282dd9c | 238 | stopLeft = false; |
ahlervin | 4:767fd282dd9c | 239 | |
ahlervin | 4:767fd282dd9c | 240 | //Drehrichtung der Motoren |
ahlervin | 7:862d80e0ea2d | 241 | controller.setDesiredSpeedRight((SpeedR)); |
ahlervin | 7:862d80e0ea2d | 242 | controller.setDesiredSpeedLeft((SpeedR)); |
ahlervin | 4:767fd282dd9c | 243 | |
ahlervin | 4:767fd282dd9c | 244 | while(1){ |
ahlervin | 4:767fd282dd9c | 245 | |
ahlervin | 4:767fd282dd9c | 246 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
ahlervin | 4:767fd282dd9c | 247 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
ahlervin | 4:767fd282dd9c | 248 | |
ahlervin | 4:767fd282dd9c | 249 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
ahlervin | 4:767fd282dd9c | 250 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
ahlervin | 4:767fd282dd9c | 251 | controller.setDesiredSpeedRight(0); |
ahlervin | 4:767fd282dd9c | 252 | stopRight = true; |
ahlervin | 4:767fd282dd9c | 253 | } |
ahlervin | 4:767fd282dd9c | 254 | |
ahlervin | 4:767fd282dd9c | 255 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
ahlervin | 4:767fd282dd9c | 256 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
ahlervin | 4:767fd282dd9c | 257 | controller.setDesiredSpeedLeft(0); |
ahlervin | 4:767fd282dd9c | 258 | stopLeft = true; |
ahlervin | 4:767fd282dd9c | 259 | } |
ahlervin | 4:767fd282dd9c | 260 | |
ahlervin | 4:767fd282dd9c | 261 | if(stopRight == true && stopLeft == true){ |
ahlervin | 4:767fd282dd9c | 262 | return; |
ahlervin | 4:767fd282dd9c | 263 | } |
ahlervin | 4:767fd282dd9c | 264 | } |
ahlervin | 4:767fd282dd9c | 265 | |
ahlervin | 4:767fd282dd9c | 266 | } |
Jacqueline | 0:6d0671ae4648 | 267 | |
ahlervin | 4:767fd282dd9c | 268 | //Implementation der Methode stopp |
ahlervin | 4:767fd282dd9c | 269 | void Fahren::stopp(){ |
ahlervin | 4:767fd282dd9c | 270 | |
ahlervin | 4:767fd282dd9c | 271 | //einlesen des aktuellen Encoder standes |
ahlervin | 4:767fd282dd9c | 272 | initialClicksRight = counterRight.read(); |
ahlervin | 4:767fd282dd9c | 273 | initialClicksLeft = counterLeft.read(); |
ahlervin | 4:767fd282dd9c | 274 | |
ahlervin | 4:767fd282dd9c | 275 | //Anzahl Clicks die der Encoder zählen soll |
ahlervin | 4:767fd282dd9c | 276 | wegRechts = 0; |
ahlervin | 4:767fd282dd9c | 277 | wegLinks = 0; |
ahlervin | 4:767fd282dd9c | 278 | |
ahlervin | 4:767fd282dd9c | 279 | //Geschwindigkeit |
ahlervin | 4:767fd282dd9c | 280 | speedRight = 0; |
ahlervin | 4:767fd282dd9c | 281 | speedLeft = 0; |
ahlervin | 4:767fd282dd9c | 282 | |
ahlervin | 4:767fd282dd9c | 283 | //Zustand, dass der Roboter nicht gestoppt hat |
ahlervin | 4:767fd282dd9c | 284 | stopRight = false; |
ahlervin | 4:767fd282dd9c | 285 | stopLeft = false; |
ahlervin | 4:767fd282dd9c | 286 | |
ahlervin | 4:767fd282dd9c | 287 | //Drehrichtung der Motoren |
ahlervin | 4:767fd282dd9c | 288 | controller.setDesiredSpeedRight(speedRight); |
ahlervin | 4:767fd282dd9c | 289 | controller.setDesiredSpeedLeft(-(speedLeft)); |
ahlervin | 4:767fd282dd9c | 290 | |
ahlervin | 4:767fd282dd9c | 291 | |
ahlervin | 4:767fd282dd9c | 292 | while(1){ |
ahlervin | 4:767fd282dd9c | 293 | |
ahlervin | 4:767fd282dd9c | 294 | // printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!) |
ahlervin | 4:767fd282dd9c | 295 | // printf("Encoderlinks %d \n\r", counterLeft.read()); //Debugging Zweck (Putty benutzen!) |
ahlervin | 4:767fd282dd9c | 296 | |
ahlervin | 4:767fd282dd9c | 297 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
ahlervin | 4:767fd282dd9c | 298 | if(counterRight.read() - initialClicksRight >= wegRechts || counterRight.read() - initialClicksRight <= -wegRechts){ |
ahlervin | 4:767fd282dd9c | 299 | controller.setDesiredSpeedRight(0); |
ahlervin | 4:767fd282dd9c | 300 | stopRight = true; |
ahlervin | 4:767fd282dd9c | 301 | } |
ahlervin | 4:767fd282dd9c | 302 | |
ahlervin | 4:767fd282dd9c | 303 | //If Schleife, wenn Clicks erreicht sind, muss der Motor stoppen |
ahlervin | 4:767fd282dd9c | 304 | if(counterLeft.read() - initialClicksLeft >= wegLinks || counterLeft.read() - initialClicksLeft <= -wegLinks ){ |
ahlervin | 4:767fd282dd9c | 305 | controller.setDesiredSpeedLeft(0); |
ahlervin | 4:767fd282dd9c | 306 | stopLeft = true; |
ahlervin | 4:767fd282dd9c | 307 | } |
ahlervin | 4:767fd282dd9c | 308 | |
ahlervin | 4:767fd282dd9c | 309 | if(stopRight == true && stopLeft == true){ |
ahlervin | 4:767fd282dd9c | 310 | return; |
ahlervin | 4:767fd282dd9c | 311 | } |
ahlervin | 4:767fd282dd9c | 312 | |
ahlervin | 4:767fd282dd9c | 313 | } |
ahlervin | 4:767fd282dd9c | 314 | |
ahlervin | 4:767fd282dd9c | 315 | } |