Tobias Berger / Mbed 2 deprecated Robocode

Tobis Programm forked to not destroy your golden files

Dependencies:   mbed

Fork of Robocode by PES 2 - Gruppe 1

source/positioning.cpp@33:8a98f8b9d859, 2017-03-20 (annotated)

Committer:
cittecla
Date:
Mon Mar 20 14:11:46 2017 +0000
Revision:
33:8a98f8b9d859
Parent:
18:a82994e67297 
Something

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cittecla 12:91c2e07d2b5b 1 /**
cittecla 12:91c2e07d2b5b 2 * Positioning function library
cittecla 12:91c2e07d2b5b 3 * Handels position of the Robot on the map
cittecla 12:91c2e07d2b5b 4 **/
cittecla 33:8a98f8b9d859 5
cittecla 12:91c2e07d2b5b 6 #include "mbed.h"
cittecla 33:8a98f8b9d859 7 #include "pathfinding.h"
cittecla 33:8a98f8b9d859 8 #include "IRsensor.h"
cittecla 33:8a98f8b9d859 9
cittecla 33:8a98f8b9d859 10 position current_pos;
cittecla 12:91c2e07d2b5b 11
cittecla 33:8a98f8b9d859 12 void get_current_pos()
cittecla 33:8a98f8b9d859 13 {
cittecla 33:8a98f8b9d859 14 return current_pos;
cittecla 33:8a98f8b9d859 15 }
cittecla 33:8a98f8b9d859 16
cittecla 33:8a98f8b9d859 17 void initial_positioning()
cittecla 33:8a98f8b9d859 18 {
cittecla 33:8a98f8b9d859 19 float last_dist_r = 1.0f;
cittecla 33:8a98f8b9d859 20 float last_dist_f = 1.0f;
cittecla 33:8a98f8b9d859 21
cittecla 33:8a98f8b9d859 22 int deg_r = 0;
cittecla 33:8a98f8b9d859 23 int deg_l = 0;
cittecla 33:8a98f8b9d859 24
cittecla 33:8a98f8b9d859 25 turn_straight_right();
cittecla 33:8a98f8b9d859 26 turn_straight_left();
cittecla 12:91c2e07d2b5b 27
cittecla 33:8a98f8b9d859 28 while(last_dist_r > sensors[r]) {
cittecla 33:8a98f8b9d859 29 turn_sensor_right(1); //turn sensor + 1 deg
cittecla 33:8a98f8b9d859 30 wait(0.1f)
cittecla 33:8a98f8b9d859 31 deg_r += 1;
cittecla 33:8a98f8b9d859 32 last_dist_r = sensors[r];
cittecla 33:8a98f8b9d859 33 }
cittecla 33:8a98f8b9d859 34
cittecla 33:8a98f8b9d859 35 while(last_dist_l > sensors[l]) {
cittecla 33:8a98f8b9d859 36 turn_sensor_left(-1); //turn sensor - 1 deg
cittecla 33:8a98f8b9d859 37 wait(0.1f)
cittecla 33:8a98f8b9d859 38 deg_l += 1;
cittecla 33:8a98f8b9d859 39 last_dist_l = sensors[l];
cittecla 33:8a98f8b9d859 40 }
cittecla 33:8a98f8b9d859 41
cittecla 33:8a98f8b9d859 42 int deg_l_2=0;
cittecla 33:8a98f8b9d859 43 turn_straight_left();
cittecla 33:8a98f8b9d859 44 last_dist_l = 0;
cittecla 33:8a98f8b9d859 45
cittecla 33:8a98f8b9d859 46 while(last_dist_l < sensors[l]) {
cittecla 33:8a98f8b9d859 47 turn_sensor_left(1); //turn sensor +1 deg (positiv = uhrzeigersinn)
cittecla 33:8a98f8b9d859 48 wait(0.1f)
cittecla 33:8a98f8b9d859 49 deg_l_2 += 1;
cittecla 33:8a98f8b9d859 50 last_dist_l = sensors[l];
cittecla 33:8a98f8b9d859 51 }
cittecla 33:8a98f8b9d859 52
cittecla 33:8a98f8b9d859 53 turn_straight_right();
cittecla 33:8a98f8b9d859 54 turn_straight_left();
cittecla 33:8a98f8b9d859 55
cittecla 33:8a98f8b9d859 56 wait(0.2f);
cittecla 33:8a98f8b9d859 57
cittecla 14:9e2ce5880fb0 58 }