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@38:3526c36e4c73, 2017-04-04 (annotated)

Committer:
cittecla
Date:
Tue Apr 04 15:01:59 2017 +0000
Revision:
38:3526c36e4c73
Parent:
34:40d8d29b44b8
Child:
39:92723f7ea54f
Started resolving State_Machine

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 33:8a98f8b9d859 6
cittecla 38:3526c36e4c73 7 #include "Positioning.h"
cittecla 33:8a98f8b9d859 8 position current_pos;
cittecla 12:91c2e07d2b5b 9
cittecla 34:40d8d29b44b8 10 position get_current_pos()
cittecla 33:8a98f8b9d859 11 {
cittecla 33:8a98f8b9d859 12 return current_pos;
cittecla 33:8a98f8b9d859 13 }
cittecla 38:3526c36e4c73 14
cittecla 38:3526c36e4c73 15 int positioning(){
cittecla 38:3526c36e4c73 16
cittecla 38:3526c36e4c73 17 return 0;
cittecla 38:3526c36e4c73 18 }
cittecla 38:3526c36e4c73 19
cittecla 38:3526c36e4c73 20
cittecla 38:3526c36e4c73 21
cittecla 34:40d8d29b44b8 22 /*
cittecla 33:8a98f8b9d859 23 void initial_positioning()
cittecla 33:8a98f8b9d859 24 {
cittecla 33:8a98f8b9d859 25 float last_dist_r = 1.0f;
cittecla 33:8a98f8b9d859 26 float last_dist_f = 1.0f;
cittecla 33:8a98f8b9d859 27
cittecla 33:8a98f8b9d859 28 int deg_r = 0;
cittecla 33:8a98f8b9d859 29 int deg_l = 0;
cittecla 33:8a98f8b9d859 30
cittecla 33:8a98f8b9d859 31 turn_straight_right();
cittecla 33:8a98f8b9d859 32 turn_straight_left();
cittecla 12:91c2e07d2b5b 33
cittecla 33:8a98f8b9d859 34 while(last_dist_r > sensors[r]) {
cittecla 33:8a98f8b9d859 35 turn_sensor_right(1); //turn sensor + 1 deg
cittecla 33:8a98f8b9d859 36 wait(0.1f)
cittecla 33:8a98f8b9d859 37 deg_r += 1;
cittecla 33:8a98f8b9d859 38 last_dist_r = sensors[r];
cittecla 33:8a98f8b9d859 39 }
cittecla 33:8a98f8b9d859 40
cittecla 33:8a98f8b9d859 41 while(last_dist_l > sensors[l]) {
cittecla 33:8a98f8b9d859 42 turn_sensor_left(-1); //turn sensor - 1 deg
cittecla 33:8a98f8b9d859 43 wait(0.1f)
cittecla 33:8a98f8b9d859 44 deg_l += 1;
cittecla 33:8a98f8b9d859 45 last_dist_l = sensors[l];
cittecla 33:8a98f8b9d859 46 }
cittecla 33:8a98f8b9d859 47
cittecla 33:8a98f8b9d859 48 int deg_l_2=0;
cittecla 33:8a98f8b9d859 49 turn_straight_left();
cittecla 33:8a98f8b9d859 50 last_dist_l = 0;
cittecla 33:8a98f8b9d859 51
cittecla 33:8a98f8b9d859 52 while(last_dist_l < sensors[l]) {
cittecla 33:8a98f8b9d859 53 turn_sensor_left(1); //turn sensor +1 deg (positiv = uhrzeigersinn)
cittecla 33:8a98f8b9d859 54 wait(0.1f)
cittecla 33:8a98f8b9d859 55 deg_l_2 += 1;
cittecla 33:8a98f8b9d859 56 last_dist_l = sensors[l];
cittecla 33:8a98f8b9d859 57 }
cittecla 33:8a98f8b9d859 58
cittecla 33:8a98f8b9d859 59 turn_straight_right();
cittecla 33:8a98f8b9d859 60 turn_straight_left();
cittecla 33:8a98f8b9d859 61
cittecla 33:8a98f8b9d859 62 wait(0.2f);
cittecla 33:8a98f8b9d859 63
cittecla 14:9e2ce5880fb0 64 }
cittecla 34:40d8d29b44b8 65 */