Revision 6:9627ef490cd5, committed 2017-05-02

Comitter:

EpicG10

Date:

Tue May 02 10:35:15 2017 +0000

Parent:

5:1aaf5de776ff

Commit message:

ok;

Changed in this revision

--- a/Headers/Declarations.h	Wed Apr 26 08:05:25 2017 +0000
+++ b/Headers/Declarations.h	Tue May 02 10:35:15 2017 +0000
@@ -3,7 +3,7 @@
 
 //DistanceSensors:
 #define NEAR 0.18f          //Used for distance Sensors. If they're to near to a wall -> turn
-#define NEAR_LEGO 0.20f     //If the DistanceSensors are near to a Lego...
+#define NEAR_LEGO 0.15f     //If the DistanceSensors are near to a Lego...
 
 #define LEFT_L 5            //Arrayindex of the left LEGO Sensor & left LED
 #define FWD_L 0             //Arrayindex of the front LEGO Sensor & front LED

--- a/Sources/Robot.cpp	Wed Apr 26 08:05:25 2017 +0000
+++ b/Sources/Robot.cpp	Tue May 02 10:35:15 2017 +0000
@@ -162,11 +162,48 @@
         *counter = MAX;                 //setting counter to MAX will couse sam to turnAround
     }
     
-    if (this->sensors[FWD_L] > 0.16f){
+    if (this->sensors[FWD_L] > 0.20f){
         this->drive();
     }
     else{
         *found = 1;
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
     }
 }
 
@@ -179,7 +216,7 @@
         *lastAct = 5;
     }
     
-    if (this->sensors[FWD_L] > 0.22f){
+    if (this->sensors[FWD_L] > 0.15f){
         this->turnRight();
     }
     else{
@@ -236,11 +273,11 @@
         counterMax(counter, timer, &lastAct, &rando);
     }
     
-    /*//Wall actions:
+    //Wall actions:
     else if (this->sensors[RIGHT] < NEAR && legoFound == -1){   //Robot has spotted an obstacle on the right.
         wallRight(counter, timer, &lastAct);
     }
-    */
+    
     else if (this->sensors[LEFT] < NEAR && legoFound == -1) {   //Robot has spotted an obstacle on the left.
         wallLeft(counter, timer, &lastAct);
     }
@@ -285,54 +322,10 @@
         nothingFound(counter, timer, &lastAct);
     }
 }
+//OLD funktion
 
-void Robot::lego(int* counter, Timer* t){
-    
-    if (this->sensors[RIGHT_L] < NEAR_LEGO){
-        t->reset();
-        
-        *counter += 1;
-        while (this->sensors[FWD] > NEAR_LEGO){
-            if ( t->read() > TIMEOUT ){
-                break;
-            }
-            
-            this->turnRight();
-        }
-        this->stop();
-    }
-    
-    else if (this->sensors[LEFT] < NEAR_LEGO){
-        t-> reset();
-        
-        *counter += 1;
-        while (this->sensors[FWD] > NEAR_LEGO){
-            if ( t->read() > TIMEOUT ){
-                break;
-            }
-            
-            this->turnLeft();
-        }
-        this->stop();
-    }
-    
-    else if (this->sensors[FWD] < 0.12f){
-        while (this->sensors[FWD] < 0.12f){
-            this->driveB();
-        }
-        while (this->sensors[FWD] < NEAR_LEGO){
-            this->turnRight();
-        }
-        while(1){
-            this->stop();
-        }
-    }
-    
-    else {
-        *counter = 0;
-        this->drive();
-    }
-}
+
+
 
 //void Robot::init(){
 //  Robot.DistanceSensors.init(&sensorVoltage, &bit0, &bit1, &bit2, ii);
@@ -345,4 +338,4 @@
 //reset
 //}
 
-//Add management for Overpower!! Pin PB_15
\ No newline at end of file
+//Add management for Overpower!! Pin PB_15 
\ No newline at end of file

--- a/Sources/main.cpp	Wed Apr 26 08:05:25 2017 +0000
+++ b/Sources/main.cpp	Tue May 02 10:35:15 2017 +0000
@@ -54,6 +54,12 @@
     int found = 0;                      //0:= no block available, 1 := a lego is ready to be picked up
     
     while( 1 ){
+        if(sam.sensors[FWD_L]<0.14) leds[2]=1;
+        else leds[2]=0;
+        if(sam.sensors[RIGHT_L]<0.14) leds[1]=1;
+        else leds[1]=0;
+        if(sam.sensors[LEFT_L]<0.14) leds[5]=1;
+        else leds[5]=0;
         if ( timer > TIMEOUT ){
             NVIC_SystemReset();         //Resets Sam.
         }
@@ -68,7 +74,7 @@
         
         wait( 0.1f );
     }
-    return 0;
+   // return 0;
 }
 
 /* * /