Diff: Fahren.cpp

Revision:

13:1687f97d4d82

Parent:

12:cd07a80f0a9a

--- a/Fahren.cpp	Tue May 08 10:48:05 2018 +0000
+++ b/Fahren.cpp	Wed May 09 17:08:24 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 = 100.0f;
-SpeedL = 100.0f;
+SpeedR = 120.0f; //120
+SpeedL = 120.0f; //120
 disF = 0.0f;
 //ticker.attach(callback(this, &Fahren::reset), PERIOD);
 }
@@ -50,14 +50,14 @@
     reglerEinL = 1;
     
     while(1){
-    float diff = (iRSensor.readR() - iRSensor.readL())*0.85f;            //Regler
+    float diff = (iRSensor.readR() - iRSensor.readL())*0.81f;            //Regler 0.81
     if(iRSensor.readR()>80.0f) diff=0;
     if(iRSensor.readL()>80.0f) diff=0;
     //printf("diff =%f \n",diff);
     controller.setDesiredSpeedRight(SpeedR+diff);
     controller.setDesiredSpeedLeft(-(SpeedL-diff));
     
-    wait(0.05);
+    wait(0.02); //0.02
        
        // printf("Encoderrechts %d \n\r", counterRight.read());                   //Debugging Zweck (Putty benutzen!)
        // printf("Encoderlinks %d \n\r", counterLeft.read());                     //Debugging Zweck (Putty benutzen!)