Revision 8:d7dfee648545, committed 2018-05-02

Comitter:

ahlervin

Date:

Wed May 02 17:06:39 2018 +0000

Parent:

7:b2a16b1cf487

Commit message:

Funktionierender Regler

Changed in this revision

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){

diff -r b2a16b1cf487 -r d7dfee648545 Fahren.h
--- a/Fahren.h	Mon Apr 30 22:11:38 2018 +0000
+++ b/Fahren.h	Wed May 02 17:06:39 2018 +0000
@@ -5,12 +5,12 @@
 #include "EncoderCounter.h"
 #include "Controller.h"
 #include "Regler.h"
-#include "IRSensor.h"
+
 
 class Fahren{
     
     public:    
-    Fahren(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight); //Konstruktor
+    Fahren(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight, Regler& regler); //Konstruktor
     
     virtual ~Fahren();
     

diff -r b2a16b1cf487 -r d7dfee648545 Regler.cpp
--- a/Regler.cpp	Mon Apr 30 22:11:38 2018 +0000
+++ b/Regler.cpp	Wed May 02 17:06:39 2018 +0000
@@ -4,15 +4,15 @@
 
 using namespace std;
 
-const float Regler :: PERIOD = 2.0f;
-const int Regler :: FIXSPEED = 25;
+const float Regler :: PERIOD = 0.2f;
+const int Regler :: FIXSPEED = 100;
 
 
 Regler::Regler(AnalogIn& IrRight, AnalogIn& IrLeft):
 IrRight (IrRight), IrLeft (IrLeft) {
         
-        SpeedR = 0;
-        SpeedL = 0;
+        //SpeedR = 0;
+        //SpeedL = 0;
         ticker.attach(callback(this, &Regler::setSpeed), PERIOD);
     }
      
@@ -28,29 +28,33 @@
         
         if (measR2 > measL2) {
             div1 = measR2 - measL2;
-            kor1 = 0.1f*div1;
+            kor1 = 0.05f*div1;
+            div2 = 0;
             SpeedR = FIXSPEED;
             SpeedL = FIXSPEED + kor1;
         } else if (measR2 < measL2) {
             div2 = measL2 - measR2;
-            kor2 = 0.1f*div2;
+            kor2 = 0.05f*div2;
+            div1 = 0;
             SpeedR = FIXSPEED + kor2;
             SpeedL = FIXSPEED;
         } else { 
             SpeedR = FIXSPEED;
             SpeedL = FIXSPEED;
             }
-printf("SpeedR1 = %f\n",SpeedR);
-printf("SpeedL1 = %f\n",SpeedL);        
+//printf("Div1 = %f\n",div1);
+//printf("Div2 = %f\n",div2);  
+//printf("SpeedR1 = %f\n",SpeedR);
+//printf("SpeedL1 = %f\n",SpeedL);        
 }
 float Regler :: get_SpeedR (){
         SpeedR = SpeedR;
-        printf("SpeedR2 = %f\n",SpeedR);
+        //printf("SpeedR2 = %f\n",SpeedR);
         return SpeedR;
     }
 float Regler :: get_SpeedL (){
         SpeedL = SpeedL;
-        printf("SpeedL2 = %f\n",SpeedL);  
+        //printf("SpeedL2 = %f\n",SpeedL);  
         return SpeedL;
     }
         

diff -r b2a16b1cf487 -r d7dfee648545 main.cpp
--- a/main.cpp	Mon Apr 30 22:11:38 2018 +0000
+++ b/main.cpp	Wed May 02 17:06:39 2018 +0000
@@ -61,7 +61,7 @@
 
 Regler regler(IrRight, IrLeft);
 
-Fahren fahren(controller, counterLeft, counterRight);                           //Reihenfolge!!!!!!!!!!!!!!!!!!! Ultra wichtig
+Fahren fahren(controller, counterLeft, counterRight, regler);                           //Reihenfolge!!!!!!!!!!!!!!!!!!! Ultra wichtig
 
 int main()
 {
@@ -108,11 +108,11 @@
     printf (" finishLast = %d\n",finishLast);
     printf("line = %f\n", line);*/
         
-        printf ("IR Right = %d \n", IrR);
-        printf("IR Left = %d\n",IrL);
-        printf("IR Front = %d\n",IrF);
-        printf("SpeedRm = %f\n",SpeedR);
-        printf("SpeedLm = %f\n",SpeedL);
+        //printf ("IR Right = %d \n", IrR);
+        //printf("IR Left = %d\n",IrL);
+        //printf("IR Front = %d\n",IrF);
+        //printf("SpeedRm = %f\n",SpeedR);
+        //printf("SpeedLm = %f\n",SpeedL);
         
                     
          if ((IrR==1) && (IrL==0) && (IrF==0) && (ende == 0)){
@@ -122,7 +122,7 @@
         }   else{ caseDrive = 0;
         }
 
-        wait (0.5);
+        //wait (0.2);