Roboshark / Mbed 2 deprecated StateMachine_1

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Dependencies:   mbed

Fork of main by Roboshark

Diff: StateMachine.cpp

Revision:
3:6e28589a732f
Parent:
1:619ca6edc4a9
diff -r a227732e1412 -r 6e28589a732f StateMachine.cpp
--- a/StateMachine.cpp	Mon Apr 16 14:18:35 2018 +0000
+++ b/StateMachine.cpp	Thu Apr 19 12:04:49 2018 +0000
@@ -7,19 +7,19 @@
         controller-> setTranslationVelocity(0.0f);
         state = LANGSAM_FAHREN;
         }
-        else if(((irSensorF.read() < DISTANCE_THRESHOLD)
-        && (irSensorR.read() < DISTANCE_THRESHOLD)) {
+        else if(((irSensorF.read() < DISTANCE_F)
+        && (irSensorR.read() < DISTANCE_R)) {
             controller.setTranslationVelocity(0.0f);
             controller.setRotationVelocity(ROTATION_VELOCITY);
             state = 270_GRAD_RECHTS;
             }
-        else if(irSensorR.read() > DISTANCE_THRESHOLD){
+        else if(irSensorR.read() > DISTANCE_R){
         controller.setTranslationVelocity(0.0f);
          controller.setRotationVelocity(ROTATION_VELOCITY);
             state = 90_GRAD_RECHTS;
             }
-        else if((irSensorF.read() < DISTANCE_THRESHOLD)
-        && (irSensorR.read() < DISTANCE_THRESHOLD) (SensorL.read() < DISTANCE_THRESHOLD)) {
+        else if((irSensorF.read() < DISTANCE_F)
+        && (irSensorR.read() < DISTANCE_R) (SensorL.read() < DISTANCE_THRESHOLD)) {
             controller.setTranslationVelocity(0.0f);
             controller.setRotationVelocity(ROTATION_VELOCITY);
             state = 180_GRAD_RECHTS;
@@ -34,7 +34,7 @@
     if (buttonNow && !buttonBefore {  // deect button rising edge
     controller.setRotationalVelocity(0.0f);
     state = LANGSAM_FAHREN;
-        } else if ((irSensorR < DISTANCE_THRESHOLD) {
+        } else if ((irSensorR < DISTANCE_R) {
         controller.setTranslationalvelocity(TRANSLATIONAL_VELOCITY);
         state = VORWAERTSFAHREN;
     }
@@ -47,9 +47,9 @@
     if (buttonNow && !buttonBefore {  //detect button rising edge
         controller.set RotationalVelociy(0.0f);
         state = LANGSAM_FAHREN;
-        } else if ((irSensorF.read() > DISTANCE_THRESHOLD)
-                && (irSensorR.read() > DISTANCE_THRESHOLD)
-                && (irSensorL.read() < DISTANCE_THRESHOLD) {
+        } else if ((irSensorF.read() > DISTANCE_F)
+                && (irSensorR.read() > DISTANCE_R)
+                && (irSensorL.read() < DISTANCE_L) {
     controller.setTranslationalVelocity(TRANSLATIONAL_VELOCITY);
     state= VORWAERTSFAHREN;
 }
@@ -60,9 +60,9 @@
     buttonNow && !button.read();
     if (buttonNow && !buttonBefore {  // detect button rising edge
         state = LANGSAM_FAHREN;
-        } else if (( irSensorR.read() > DISTANCE_THRESHOLD)
-            && (irSensorF.read() > DISTANCE_THRESHOLD)
-            && (irSensorL.read() > DISTANCE_THRESHOLD)) {
+        } else if (( irSensorR.read() > DISTANCE_R)
+            && (irSensorF.read() > DISTANCE_F)
+            && (irSensorL.read() > DISTANCE_L)) {
     controller.setTranslationalVelocity(TRANCLATIONAL_VELOCITY) {
     state = VORWAERTSFAHREN;