Diff: Motion.cpp

Revision:

22:91526c8d15ba

Parent:

21:41997651337a

Child:

23:accd07ca2da7

--- a/Motion.cpp	Sat May 12 16:30:18 2018 +0000
+++ b/Motion.cpp	Tue May 15 11:19:15 2018 +0000
@@ -12,7 +12,7 @@
 const float Motion::MOVE_SPEED = 50.0f;
 const float Motion::SCAN_SPEED = 50.0f;
 const float Motion::ROTATE_SPEED = 80.0f;
-const float Motion::ACCEL_CONST = 2.5f; //2.212f
+const float Motion::ACCEL_CONST = 3.5f; //2.212f
 
 
 Motion::Motion(Controller& controller, EncoderCounter& counterLeft, 
@@ -103,6 +103,7 @@
         
         acceleration = false;
         deceleration = false;
+        longMove = false;
         
         countsLOld = counterLeft.read();
         countsROld = counterRight.read();
@@ -386,13 +387,17 @@
             
             case 1:
                 if ( reverse == true && path[task-1] == path[task] && path[task+1] != path[task] && task != junction) {
+                    
                     acceleration = true;
                     longMove = true;
                     deceleration = false;
+                    
                 }else if (reverse == false && path[task+1] == path[task] && ( path[task-1] != path[task] || task == 0)) {
+                    
                     acceleration = true;
                     longMove = true;
                     deceleration = false;
+                    
                 }else{
                     acceleration = false; 
                     deceleration = false;
@@ -400,15 +405,19 @@
                 }
             
                 if (reverse == true && ( path[task-1] != path[task] || task == junction ) && avgSpeed > 2.4f*MOVE_SPEED) {
+                    
                     deceleration = true;
                     acceleration = false;
                     lastMove = true;
                     longMove = false;
+                    
                 }else if (reverse == false && path[task+1] != path[task] && avgSpeed > 2.4f*MOVE_SPEED) {
+                    
                     deceleration = true;
                     acceleration = false;
                     lastMove = true;
                     longMove = false;
+                    
                 }else{
                     deceleration = false;
                 }
@@ -416,8 +425,6 @@
                 //printf("\nSchritt: %d Befehl: %d Reverse: %d acceleration: %d deceleration: %d\n", task, path[task], reverse, acceleration, deceleration);
                 //printf("\nVor: %d Nach: %d Speed: %f\n\n", path[task+1], path[task-1], avgSpeed);
                 
-                
-                
                 move();
                 break;
             case 2:
@@ -451,13 +458,13 @@
             
             actSpeed =  55.0f;
             
-        }else if (avgSpeed < targetSpeed*2.6f && acceleration == true) {
+        }else if (avgSpeed < targetSpeed*2.8f && acceleration == true) {
             
-            actSpeed = 2.5f * t.read()*60.0f; 
+            actSpeed = ACCEL_CONST * t.read()*60.0f; 
                
-        }else if ( avgSpeed > targetSpeed && deceleration == true) {
+        }else if (avgSpeed > targetSpeed && deceleration == true) {
         
-            actSpeed = targetSpeed*2.6f - ACCEL_CONST * t.read()*60.0f;
-        }            
+            actSpeed = targetSpeed*2.8f - ACCEL_CONST * t.read()*60.0f;
+        }        
 }