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Dependencies:   mbed

Fork of Versuch21 by Antonia Baumgartner

Classes/Spurhaltung.cpp@1:6ef5bc60e69c, 2018-04-23 (annotated)

Committer:
mrbb2
Date:
Mon Apr 23 16:18:41 2018 +0000
Revision:
1:6ef5bc60e69c
Parent:
0:b886f13e4ac6
Child:
2:efa9a78591da
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 0:b886f13e4ac6 16 int Spurhaltung::speedl()
baumgant 0:b886f13e4ac6 17 {
baumgant 0:b886f13e4ac6 18 if(abs(Sensor2.read()-Sensor3.read())<20) {
baumgant 0:b886f13e4ac6 19 int sl = Sensor2.read() * 1.875;
baumgant 0:b886f13e4ac6 20 return sl;
baumgant 0:b886f13e4ac6 21 } else {
baumgant 0:b886f13e4ac6 22 int sl = 150;
baumgant 0:b886f13e4ac6 23 return sl;
baumgant 0:b886f13e4ac6 24 }
baumgant 0:b886f13e4ac6 25 }
baumgant 0:b886f13e4ac6 26
mrbb2 1:6ef5bc60e69c 27 int Spurhaltung::speedr()
mrbb2 1:6ef5bc60e69c 28 {
mrbb2 1:6ef5bc60e69c 29 if(abs(Sensor3.read()-Sensor2.read())<20) {
mrbb2 1:6ef5bc60e69c 30 int sr = Sensor3.read() * 1.875;
mrbb2 1:6ef5bc60e69c 31 return sr;
baumgant 0:b886f13e4ac6 32 } else {
baumgant 0:b886f13e4ac6 33 int sr = 150;
baumgant 0:b886f13e4ac6 34 return sr;
baumgant 0:b886f13e4ac6 35 }
baumgant 0:b886f13e4ac6 36 }