Antonia Baumgartner / Mbed 2 deprecated Versuch21

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Fork of Versuch20 by Alexander Wyss

Classes/LHR.cpp

Committer:
baumgant
Date:
2018-04-25
Revision:
2:efa9a78591da
Parent:
1:6ef5bc60e69c
Child:
3:f44ef28cfb2d

File content as of revision 2:efa9a78591da:

#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;
}