Florian Prettner
/
bertl_uebungen
Zählt "Moves" und Beepers
Meine Projekte
- a
- b
- b.1
Diff: uebungen.cpp
- Revision:
- 1:7d54ee7806ed
- Parent:
- 0:3a81205181c5
- Child:
- 3:bd72c5d54747
diff -r 3a81205181c5 -r 7d54ee7806ed uebungen.cpp --- a/uebungen.cpp Thu Apr 23 12:37:25 2015 +0000 +++ b/uebungen.cpp Thu May 07 12:13:42 2015 +0000 @@ -2,39 +2,67 @@ #include "const.h" -bool Task_Bertl :: Front_Button() +void Task_Bertl :: LineFollow() { - if (FrontIsClear()) + while(1) { - return !IsButtonPressed(BTN_FLL); - } - return false; + uint8_t val = GetLineValues(); + NibbleLeds(val); + + if (val == 6) + { + Move(); + } + if ((val == 1) || (val == 3) || (val == 7)) + { + TurnLeftStep(1); + } + if ((val == 8) || (val == 12) || (val == 14)) + { + TurnRigthStep(1); + } + if (val == 0) + { + break; + } + + /* + if (val == 9) + { + Move(); + } + if ((val == 14) || (val == 12) || (val == 8) || (val == 13)) + { + TurnLeftStep(1); + } + if ((val == 7) || (val == 3) || (val == 1)) + { + TurnRigthStep(1); + } + if (val == 15) + { + break; + } + */ + } } - -bool Task_Bertl :: Front_Button2() -{ - if ((FrontIsClear())||(IsButtonPressed(BTN_FLL))) - { - return true; - } - return false; -} - -void Task_Bertl :: ClearAllBeepersToTheWall() +void Task_Bertl :: LineSearch() { - int i = 0; - while (!NextToABeeper() || FrontIsClear()) + uint8_t val = GetLineValues(); + NibbleLeds(val); + + while(val != 9) { - Move(); - if (NextToABeeper()) + uint8_t val = GetLineValues(); + NibbleLeds(val); + + TurnLeftStep(1); + if (val == 9) { - wait(2); - i++; - PickBeeper(); - NibbleLeds(i); - continue; + break; } + } } \ No newline at end of file