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Dependencies:   mbed

Fork of Versuch20 by Alexander Wyss

Classes/LHR.cpp@2:efa9a78591da, 2018-04-25 (annotated)

Committer:
baumgant
Date:
Wed Apr 25 11:16:16 2018 +0000
Revision:
2:efa9a78591da
Parent:
1:6ef5bc60e69c
Child:
3:f44ef28cfb2d
PES2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
baumgant 0:b886f13e4ac6 1 #include "LHR.h"
baumgant 0:b886f13e4ac6 2 #include "EncoderCounter.h"
baumgant 0:b886f13e4ac6 3 #include "Controller.h"
baumgant 0:b886f13e4ac6 4 #include "IRSensorGF.h"
baumgant 0:b886f13e4ac6 5 #include "IRSensorG.h"
baumgant 0:b886f13e4ac6 6 #include "IRSensorK.h"
baumgant 0:b886f13e4ac6 7 #include "IRSensorZ.h"
baumgant 0:b886f13e4ac6 8
baumgant 0:b886f13e4ac6 9 using namespace std;
baumgant 0:b886f13e4ac6 10
baumgant 0:b886f13e4ac6 11 LHR::LHR(IRSensorGF& Sensor1, IRSensorG& Sensor2, IRSensorG& Sensor3, IRSensorK& Sensor4, IRSensorK& Sensor5, IRSensorZ& Sensor6):
baumgant 0:b886f13e4ac6 12 Sensor1(Sensor1), Sensor2(Sensor2), Sensor3(Sensor3), Sensor4(Sensor4), Sensor5(Sensor5), Sensor6(Sensor6)
baumgant 0:b886f13e4ac6 13 {
baumgant 0:b886f13e4ac6 14 this->D = D;
baumgant 0:b886f13e4ac6 15 }
baumgant 0:b886f13e4ac6 16
baumgant 0:b886f13e4ac6 17
baumgant 0:b886f13e4ac6 18 LHR::~LHR() {}
baumgant 0:b886f13e4ac6 19
baumgant 0:b886f13e4ac6 20 int LHR::moving()
baumgant 0:b886f13e4ac6 21 {
mrbb2 1:6ef5bc60e69c 22 if (1/*Sensor6.read() > 0*/) { //Ziel erreicht
mrbb2 1:6ef5bc60e69c 23
mrbb2 1:6ef5bc60e69c 24 if(Sensor4.read() == 0) {
mrbb2 1:6ef5bc60e69c 25 D=1; //links Drehen
baumgant 0:b886f13e4ac6 26 } else if (Sensor1.read() == 0) {
mrbb2 1:6ef5bc60e69c 27 D=2; //gerade
baumgant 0:b886f13e4ac6 28 } else if (Sensor5.read() == 0) {
mrbb2 1:6ef5bc60e69c 29 D=3;
baumgant 2:efa9a78591da 30 } else{
baumgant 0:b886f13e4ac6 31 D=4;
baumgant 0:b886f13e4ac6 32 }
baumgant 0:b886f13e4ac6 33 } else {
baumgant 0:b886f13e4ac6 34 D=0;
baumgant 0:b886f13e4ac6 35 }
baumgant 0:b886f13e4ac6 36 return D;
baumgant 0:b886f13e4ac6 37 }