File content as of revision 4:e74c06e43485:

#include <cmath>
#include "Motion.h"

using namespace std;

const float Motion::SPEEDLEFT = 50.0f;
const float Motion::SPEEDRIGHT = 50.0f;


Motion::Motion(Controller& controller, EncoderCounter& counterLeft, 
                EncoderCounter& counterRight, IRSensor& irSensorL,
                IRSensor& irSensorC, IRSensor& irSensorR) :
                controller(controller), counterLeft(counterLeft),
                counterRight(counterRight), irSensorL(irSensorL),
                irSensorC(irSensorC), irSensorR(irSensorR) {
                    
                    countsLeft = 0;
                    countsRight = 0;
}
               
Motion::~Motion() {}

void Motion::move() {
    
        distanceL = irSensorL.read();
        distanceC = irSensorC.read();
        distanceR = irSensorR.read();
        
    while(countsLeft  < 200 || countsRight < 200) { 
        //Counts für eine Feld Bewegung
        countsLeft = counterLeft.read();
        countsRight = counterRight.read();
    
        controller.setDesiredSpeedLeft(50.0f);
        controller.setDesiredSpeedRight(-50.0f);
    
    }
}
    
void Motion::rotateL() {
    
    while(countsLeft  < 200 || countsRight > -200) { 
        //Count Grenze durch Rechnung bestimmen für 90° Umfang/4
        countsLeft = counterLeft.read();
        countsRight = counterRight.read();
    
        controller.setDesiredSpeedLeft(50.0f);
        controller.setDesiredSpeedRight(-50.0f);
    
    }
}
    
void Motion::rotateR() {
    
    while(countsLeft  > -200 || countsRight < 200) { 
        //Count Grenze durch Rechnung bestimmen für 90° Umfang/4
        countsLeft = counterLeft.read();
        countsRight = counterRight.read();
    
        controller.setDesiredSpeedLeft(-50.0f);
        controller.setDesiredSpeedRight(50.0f);
    
    }
}

//180° rotation
void Motion::reverse() {
    
    while(countsLeft  < 200 || countsRight > -200) { 
        //Count Grenze durch Rechnung bestimmen für 180° Umfang/2
        countsLeft = counterLeft.read();
        countsRight = counterRight.read();
    
        controller.setDesiredSpeedLeft(50.0f);
        controller.setDesiredSpeedRight(-50.0f);
    
    }
}