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Dependencies:   mbed

Fork of Versuch20 by Alexander Wyss

Classes/LHR.cpp@5:64d7b4b69fdf, 2018-05-12 (annotated)

Committer:
baumgant
Date:
Sat May 12 12:49:18 2018 +0000
Revision:
5:64d7b4b69fdf
Parent:
4:3c6d2c035243 
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
mrbb2 3:f44ef28cfb2d 9
baumgant 0:b886f13e4ac6 10 using namespace std;
baumgant 0:b886f13e4ac6 11
baumgant 0:b886f13e4ac6 12 LHR::LHR(IRSensorGF& Sensor1, IRSensorG& Sensor2, IRSensorG& Sensor3, IRSensorK& Sensor4, IRSensorK& Sensor5, IRSensorZ& Sensor6):
baumgant 0:b886f13e4ac6 13 Sensor1(Sensor1), Sensor2(Sensor2), Sensor3(Sensor3), Sensor4(Sensor4), Sensor5(Sensor5), Sensor6(Sensor6)
baumgant 0:b886f13e4ac6 14 {
baumgant 0:b886f13e4ac6 15 this->D = D;
baumgant 0:b886f13e4ac6 16 }
baumgant 0:b886f13e4ac6 17
baumgant 0:b886f13e4ac6 18
baumgant 0:b886f13e4ac6 19 LHR::~LHR() {}
baumgant 0:b886f13e4ac6 20
baumgant 0:b886f13e4ac6 21 int LHR::moving()
baumgant 0:b886f13e4ac6 22 {
baumgant 5:64d7b4b69fdf 23 if(/*Sensor6.read() == 0*/1) { //Ziel erreicht
baumgant 5:64d7b4b69fdf 24
baumgant 5:64d7b4b69fdf 25 if(Sensor4.read() == 0) {
baumgant 5:64d7b4b69fdf 26 D=1;
baumgant 5:64d7b4b69fdf 27 //wait(0.1f); //links Drehen
baumgant 5:64d7b4b69fdf 28 } else if (Sensor1.read() > 150 ) {
baumgant 5:64d7b4b69fdf 29 D=2;
baumgant 5:64d7b4b69fdf 30 //wait(0.1f); //gerade
baumgant 0:b886f13e4ac6 31 } else if (Sensor5.read() == 0) {
baumgant 5:64d7b4b69fdf 32 D=3;
baumgant 5:64d7b4b69fdf 33 //wait(0.1f);
baumgant 5:64d7b4b69fdf 34 } else {
baumgant 0:b886f13e4ac6 35 D=4;
baumgant 0:b886f13e4ac6 36 }
baumgant 5:64d7b4b69fdf 37
baumgant 0:b886f13e4ac6 38 }
baumgant 0:b886f13e4ac6 39 return D;
baumgant 0:b886f13e4ac6 40 }