Antonia Baumgartner
/
Versuch21
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Versuch20
by 
Alexander Wyss
Diff: Classes/Spurhaltung.cpp
- Revision:
- 0:b886f13e4ac6
- Child:
- 1:6ef5bc60e69c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Classes/Spurhaltung.cpp Sun Apr 22 16:14:54 2018 +0000
@@ -0,0 +1,35 @@
+#include "Spurhaltung.h"
+#include "IRSensorG.h"
+
+using namespace std;
+
+Spurhaltung::Spurhaltung(IRSensorG& Sensor2, IRSensorG& Sensor3):
+ Sensor2(Sensor2), Sensor3(Sensor3)
+
+{
+ this->sr = sr;
+ this->sl = sl;
+}
+
+Spurhaltung::~Spurhaltung() {}
+
+int Spurhaltung::speedl()
+{
+ if(abs(Sensor2.read()-Sensor3.read())<20) {
+ int sl = Sensor2.read() * 1.875;
+ return sl;
+ } else {
+ int sl = 150;
+ return sl;
+ }
+}
+
+int Spurhaltung::speedr() {
+ if(abs(Sensor2.read()-Sensor3.read())<20) {
+ int sr = Sensor3.read() * 1.875;
+ return sr;
+ } else {
+ int sr = 150;
+ return sr;
+ }
+}
\ No newline at end of file