Nicht funktionierender Regler
Dependencies: mbed
Fork of Roboshark_V3 by
Diff: Fahren.cpp
- Revision:
- 8:d7dfee648545
- Parent:
- 7:b2a16b1cf487
diff -r b2a16b1cf487 -r d7dfee648545 Fahren.cpp --- a/Fahren.cpp Mon Apr 30 22:11:38 2018 +0000 +++ b/Fahren.cpp Wed May 02 17:06:39 2018 +0000 @@ -6,14 +6,14 @@ using namespace std; -const float Fahren :: PERIOD = 2.0f; +const float Fahren :: PERIOD = 0.2f; //Konstruktor -Fahren::Fahren(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight): +Fahren::Fahren(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight, Regler& regler): controller(controller), counterLeft(counterLeft), counterRight(counterRight), regler(regler){ - SpeedR = 0; - SpeedL = 0; + SpeedR = 100; + SpeedL = 100; ticker.attach(callback(this, &Fahren::getSpeed), PERIOD); } @@ -44,8 +44,8 @@ wegLinks = 1767; //Geschwindigkeit - speedRight = 25; - speedLeft = 25; + speedRight = 100; + speedLeft = 100; //Zustand, dass der Roboter nicht gestoppt hat stopRight = false; @@ -93,16 +93,19 @@ wegLinks = 1767; //Geschwindigkeit - speedRight = 20; // SpeedR - speedLeft = 20; // SpeedL + speedRight = 100;//SpeedR + speedLeft = 100;//SpeedL + + printf("SpeedR in F2= %f\n",SpeedR); + printf("SpeedL in F2= %f\n",SpeedL); //Zustand, dass der Roboter nicht gestoppt hat stopRight = false; stopLeft = false; //Drehrichtung der Motoren - controller.setDesiredSpeedRight(speedRight); - controller.setDesiredSpeedLeft(-(speedLeft)); + controller.setDesiredSpeedRight(SpeedR); + controller.setDesiredSpeedLeft(-(SpeedL)); while(1){