Helvijs Kiselis
/
Micromouse
Algorithmus
Revision 36:99f60052c746, committed 2018-06-30
- Comitter:
- luethale
- Date:
- Sat Jun 30 14:13:27 2018 +0000
- Parent:
- 35:5a4e1a87b3da
- Commit message:
- Nacht_der_Technik; Angepasste Werte:; Move & HalfeMove; Ev. Bechleunigung verbessern (aprupte Stops); Ev. Move & HalfeMove weiter anpassen
Changed in this revision
Motion.cpp | Show annotated file Show diff for this revision Revisions of this file |
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/Motion.cpp Sat Jun 30 09:49:06 2018 +0000 +++ b/Motion.cpp Sat Jun 30 14:13:27 2018 +0000 @@ -79,17 +79,17 @@ break; //Stop at certain distance in speed run - }else if (distanceC < 160.0f && speedRun == true && lastMove == true) { + /* }else if (distanceC < 140.0f && speedRun == true && lastMove == true) { //Ursprünglich: 180.0f stop(); break; - + */ //Correct distance from wall }else if ( ((countsL - countsLOld) >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC <= 130.0f) && (distanceC > 40.0f)) { countsLOld += 1000; countsROld -= 1000; //Stop after certain distance if side wall and front wall missing - }else if ( deceleration == true && speedRun == false && ( distanceL > 80.0f || distanceR > 80.0f ) && distanceC > 200.0f ) { + }else if ( deceleration == true && speedRun == false && ( distanceL > 80.0f || distanceR > 80.0f ) && distanceC > 180.0f ) { //Urspünglich 200.0f controller.counterReset(); countsLOld = counterLeft.read(); @@ -156,7 +156,7 @@ }else if ( ((countsL - countsLOld) >= 824 || (countsR - countsROld) <= -824) && (distanceC >= 100.0f) && (distanceC < 120.0f) ) { countsLOld += 100; countsROld -= 100; - + //Stop after certain distance if side wall missing }else if ( (distanceL > 80.0f || distanceR > 80.0f) && lastMove == false && deceleration == true && distanceC < 190.0f) { @@ -166,7 +166,7 @@ countsL = counterLeft.read(); countsR = counterRight.read(); - while ((countsL - countsLOld) < 250.0f || (countsR - countsROld) > -250.0f) { + while ((countsL - countsLOld) < 280.0f || (countsR - countsROld) > -280.0f) { //Ursprünglich 250.0f countsL = counterLeft.read(); countsR = counterRight.read(); accel(RUN_SPEED);
--- a/main.cpp Sat Jun 30 09:49:06 2018 +0000 +++ b/main.cpp Sat Jun 30 14:13:27 2018 +0000 @@ -54,7 +54,7 @@ volatile int start = 0; - const int debuging = 1; + const int debuging = 0; const int MOVE = 1; const int LEFT = 2;