Revision 1:ca37d1831bd1, committed 2018-03-23

Comitter:

kueenste

Date:

Fri Mar 23 12:57:27 2018 +0000

Parent:

0:b15fac82ee4e

Commit message:

P2;

Changed in this revision

diff -r b15fac82ee4e -r ca37d1831bd1 Library.lib
--- a/Library.lib	Fri Mar 09 15:30:02 2018 +0000
+++ b/Library.lib	Fri Mar 23 12:57:27 2018 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/kueenste/code/Library/#bb408887ab78
+https://os.mbed.com/teams/TeamSurface/code/Library/#6dd39662e6e5

diff -r b15fac82ee4e -r ca37d1831bd1 main.cpp
--- a/main.cpp	Fri Mar 09 15:30:02 2018 +0000
+++ b/main.cpp	Fri Mar 23 12:57:27 2018 +0000
@@ -66,9 +66,9 @@
     wait(5);
     controller.setTranslationalVelocity(10); 
     */
-    
+    short lb = button.read();
     while(1) {
-        
+        short b = button.read();
         // Initial reads
         
         float distanceStraight = irSensor0.read(); // gibt die Distanz in [m] zurueck
@@ -80,8 +80,15 @@
         
         // FSM
         
+        if (distanceStraight < 0.2f) {
+            led3.write(true);
+        } else {
+            led3.write(false);
+        }
+        
+        
         switch(state) {
-        
+
         // Robot off
         case(robOff):
         
@@ -91,7 +98,7 @@
             enableMotorDriver = 0; // Schaltet den Leistungstreiber
         
             // button pressed
-            if (button.read()){
+            if (b && b != lb){
                 enableMotorDriver = 1; // Schaltet den Leistungstreiber ein
                 
                 state = robMove;
@@ -101,17 +108,18 @@
         // Move Forward
         case(robMove):
             
-            controller.setTranslationalVelocity(20.0f);
+            controller.setTranslationalVelocity(0.7f);
             controller.setRotationalVelocity(0.0f);
         
         
             // button pressed
-            if (button.read()){
+            if (b && b != lb){
                 state = robOff;
-            } else if(distanceStraight <= 0.4f) {
-                if(distanceLeft > 0.3f) {
+            } else if(distanceStraight <= 0.2f) {
+                
+                if(distanceLeft > 0.2f) {
                     state = robLeft;    
-                } else if(distanceRight > 0.3f) {
+                } else if(distanceRight > 0.2f) {
                     state = robRight;    
                 } else {
                     state = robSlowDown;    
@@ -134,13 +142,13 @@
         case(robLeft):
             
             controller.setTranslationalVelocity(0.0f);
-            controller.setRotationalVelocity(10.0f);
+            controller.setRotationalVelocity(5.0f);
         
         
             // button pressed
-            if (button.read()){
+            if (b && b != lb){
                 state = robSlowDown;
-            } else if(distanceStraight > 0.6f) {
+            } else if(distanceStraight > 0.2f) {
                 state = robMove;    
             }
         break;
@@ -148,22 +156,23 @@
         case(robRight):
         
             controller.setTranslationalVelocity(0.0f);
-            controller.setRotationalVelocity(-10.0f);
+            controller.setRotationalVelocity(-5.0f);
         
             // button pressed
-            if (button.read()){
+            if (b && b != lb){
                 state = robSlowDown;
-            } else if(distanceStraight > 0.6f) {
+            } else if(distanceStraight > 0.2f) {
                 state = robMove;    
             }
         break;
         default:
         // fuck off
-        
+                
+
         break;
-
         }    
 
-
+        lb = b;
+        
     }
 }