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Dependencies:   mbed

Fork of Versuch20 by Alexander Wyss

Classes/LHR.cpp

Committer:
mrbb2
Date:
2018-04-23
Revision:
1:6ef5bc60e69c
Parent:
0:b886f13e4ac6
Child:
2:efa9a78591da

File content as of revision 1:6ef5bc60e69c:

#include "LHR.h"
#include "EncoderCounter.h"
#include "Controller.h"
#include "IRSensorGF.h"
#include "IRSensorG.h"
#include "IRSensorK.h"
#include "IRSensorZ.h"

using namespace std;

LHR::LHR(IRSensorGF& Sensor1, IRSensorG& Sensor2, IRSensorG& Sensor3, IRSensorK& Sensor4, IRSensorK& Sensor5, IRSensorZ& Sensor6):
    Sensor1(Sensor1), Sensor2(Sensor2), Sensor3(Sensor3), Sensor4(Sensor4), Sensor5(Sensor5), Sensor6(Sensor6)
{
    this->D = D;
}


LHR::~LHR() {}

int LHR::moving()
{
    if (1/*Sensor6.read() > 0*/) {                  //Ziel erreicht
        
        if(Sensor4.read() == 0) {                   
            D=1;                                    //links Drehen
        } else if (Sensor1.read() == 0) {
            D=2;                                    //gerade 
        } else if (Sensor5.read() == 0) {
            D=3;                                    
        } else {
            D=4;
        }
    } else {
        D=0;
    }
    return D;
}