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Dependencies:   mbed

Fork of Versuch20 by Alexander Wyss

Classes/Spurhaltung.cpp@3:f44ef28cfb2d, 2018-04-29 (annotated)

Committer:
mrbb2
Date:
Sun Apr 29 11:29:00 2018 +0000
Revision:
3:f44ef28cfb2d
Parent:
2:efa9a78591da
Child:
5:64d7b4b69fdf
PES2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
baumgant 0:b886f13e4ac6 1 #include "Spurhaltung.h"
baumgant 0:b886f13e4ac6 2 #include "IRSensorG.h"
baumgant 0:b886f13e4ac6 3
baumgant 0:b886f13e4ac6 4 using namespace std;
baumgant 0:b886f13e4ac6 5
baumgant 0:b886f13e4ac6 6 Spurhaltung::Spurhaltung(IRSensorG& Sensor2, IRSensorG& Sensor3):
baumgant 0:b886f13e4ac6 7 Sensor2(Sensor2), Sensor3(Sensor3)
baumgant 0:b886f13e4ac6 8
baumgant 0:b886f13e4ac6 9 {
baumgant 0:b886f13e4ac6 10 this->sr = sr;
baumgant 0:b886f13e4ac6 11 this->sl = sl;
baumgant 0:b886f13e4ac6 12 }
baumgant 0:b886f13e4ac6 13
baumgant 0:b886f13e4ac6 14 Spurhaltung::~Spurhaltung() {}
baumgant 0:b886f13e4ac6 15
baumgant 2:efa9a78591da 16 //------------------------------------------------------------------------------
baumgant 2:efa9a78591da 17
baumgant 0:b886f13e4ac6 18 int Spurhaltung::speedl()
baumgant 0:b886f13e4ac6 19 {
mrbb2 3:f44ef28cfb2d 20 if(abs(Sensor3.read()-Sensor2.read())<100) {
mrbb2 3:f44ef28cfb2d 21
mrbb2 3:f44ef28cfb2d 22 int sl = Sensor2.read() * 1.825;
baumgant 0:b886f13e4ac6 23 return sl;
baumgant 0:b886f13e4ac6 24 } else {
baumgant 0:b886f13e4ac6 25 int sl = 150;
baumgant 0:b886f13e4ac6 26 return sl;
baumgant 0:b886f13e4ac6 27 }
baumgant 0:b886f13e4ac6 28 }
baumgant 0:b886f13e4ac6 29
baumgant 2:efa9a78591da 30 //------------------------------------------------------------------------------
baumgant 2:efa9a78591da 31
mrbb2 1:6ef5bc60e69c 32 int Spurhaltung::speedr()
mrbb2 1:6ef5bc60e69c 33 {
mrbb2 3:f44ef28cfb2d 34 if(abs(Sensor2.read()-Sensor3.read())<100) {
mrbb2 3:f44ef28cfb2d 35 int sr = Sensor3.read() * 1.825;
mrbb2 1:6ef5bc60e69c 36 return sr;
baumgant 0:b886f13e4ac6 37 } else {
baumgant 0:b886f13e4ac6 38 int sr = 150;
baumgant 0:b886f13e4ac6 39 return sr;
baumgant 0:b886f13e4ac6 40 }
baumgant 0:b886f13e4ac6 41 }