Diff: source/Mapping.cpp

Revision:

51:4a18b47fd659

Parent:

50:2e2bf0815fd9

Child:

52:56399c2f13cd

--- a/source/Mapping.cpp	Sat Apr 15 00:11:16 2017 +0000
+++ b/source/Mapping.cpp	Sat Apr 15 00:18:50 2017 +0000
@@ -5,11 +5,15 @@
 
 #include "Mapping.h"
 
+#define list_time_value         60
+#define list_target_value       1
+#define list_boundry_value      255
+#define servo_angle             50
+
+
 uint8_t obstacle_list[row][col] = { 0 };
 uint8_t target_list[row][col] = {0};
-uint8_t list_time_value = 60;
-uint8_t list_target_value = 1;
-uint8_t list_boundry_value = 255;
+
 uint8_t a = list_time_value; //Substitution um Matrix übersichtlich zu halten
 uint8_t superpos[7][7] = {{0,0,a,a,a,0,0},
     {0,a,a,a,a,a,0},
@@ -32,7 +36,7 @@
         //check_sensor(left);
         float distance0 = getDistanceIR(0);
         if(distance0 < 0.75f && distance0 > 0.1f) {
-            set_servo_position(0, 50);
+            set_servo_position(0, servo_angle);
             float distance = getDistanceIR(1);
             int object = 0;
             if(distance < 0.75f && distance > 0.1f && distance -0.05f < distance0 && distance + 0.05f > distance0) {
@@ -40,26 +44,27 @@
             } else {
                 object = 1;
             }
-            position mapping_pos = position_calculation(distance0, 50, 0.12, 0.12, current_heading, current_pos);
+            position mapping_pos = position_calculation(distance0, servo_angle, 0.12, 0.12, current_heading, current_pos);
             draw_to_map(mapping_pos, object);
         }
         //check_sensor(right);
-        float distance4 = getDistanceIR(0);
+        float distance4 = getDistanceIR(4);
         if(distance4 < 0.75f && distance4 > 0.1f) {
-            float distance = getDistanceIR(1);
+            set_servo_position(1, -servo_angle);
+            float distance = getDistanceIR(5);
             int object = 0;
             if(distance < 0.75f && distance > 0.1f && distance -0.05f < distance4 && distance + 0.05f > distance4) {
                 object = 0;
             } else {
                 object = 1;
             }
-            position mapping_pos = position_calculation(distance4, -50, -0.12, 0.12, current_heading, current_pos);
+            position mapping_pos = position_calculation(distance4, -servo_angle, -0.12, 0.12, current_heading, current_pos);
             draw_to_map(mapping_pos, object);
         }
         //check_sensor(center);
-        float distance2 = getDistanceIR(0);
+        float distance2 = getDistanceIR(2);
         if(distance2 < 0.75f && distance2 > 0.1f) {
-            float distance = getDistanceIR(1);
+            float distance = getDistanceIR(3);
             int object = 0;
             if(distance < 0.75f && distance > 0.1f && distance -0.05f < distance2 && distance + 0.05f > distance2) {
                 object = 0;