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Dependencies:   mbed

Fork of Versuch21 by Antonia Baumgartner

Classes/Spurhaltung.cpp

Committer:
baumgant
Date:
2018-05-09
Revision:
5:93d3efe46493
Parent:
3:f44ef28cfb2d

File content as of revision 5:93d3efe46493:

#include "Spurhaltung.h"
#include "IRSensorG.h"

using namespace std;

const int Spurhaltung::DISTANCE = 100;
const float Spurhaltung::SPEED = 100;
const int Spurhaltung::DIFF = 1;
const int Spurhaltung::DIFF2 = 120;
const int Spurhaltung::DIFF3 = 180;
const int Spurhaltung::OFFSET = 30;
const int Spurhaltung::TOLERANCE1 = 8;
const int Spurhaltung::TOLERANCE2 = -8;

Spurhaltung::Spurhaltung(IRSensorG& Sensor2, IRSensorG& Sensor3):
    Sensor2(Sensor2), Sensor3(Sensor3)

{
    this->sr = sr;
    this->sl = sl;
}

Spurhaltung::~Spurhaltung() {}

//------------------------------------------------------------------------------

int Spurhaltung::speedl()
{
    // Wand links und rechts
    if(abs(Sensor2.read()+OFFSET-Sensor3.read())<DIFF3) {
        int sl = Sensor3.read() * 1.825 - 30;
        printf("");
        if(Sensor3.read() > (DISTANCE + 50)) {
            sl = SPEED;
            return sl;
        } else {
            return sl;
        }
    }
    // nur Wand links
    else if ((Sensor2.read() < DIFF2) and (Sensor3.read() > DIFF3)) {
        if ((Sensor2.read() - DISTANCE + OFFSET) > TOLERANCE1) {
            int sl = 80 - DIFF;
            //printf("Fridolin\r\n");
            return sl;
        } else if ((Sensor2.read() - DISTANCE + OFFSET) < TOLERANCE2) {
            int sl = 80 + DIFF;
            return sl;
        } else {
            sl = SPEED;
            return sl;
        }
    }

    // nur Wand rechts
    else if ((Sensor3.read()<DIFF2) and (Sensor2.read()>DIFF3)) {
        if ((Sensor3.read() - DISTANCE) > TOLERANCE1) {
            sl = 80 + DIFF;
            //printf("Fridolin\r\n");
            return sl;
        } else if ((Sensor3.read() - DISTANCE) < TOLERANCE2) {
            int sl = 80 - DIFF;
            return sl;
        } else {
            sl = SPEED;
            return sl;
        }
        }
    }


//------------------------------------------------------------------------------

int Spurhaltung::speedr()
{
    // Wand links und rechts
    if(abs(Sensor3.read()-Sensor2.read()+OFFSET)<DIFF3) {
        int sr = (Sensor2.read()) * 1.825;
        printf("");
        if(Sensor2.read() > (DISTANCE - OFFSET + 50)) {
            sr = SPEED;
            return sr;
        } else {
            return sr;
        }
    }
    // nur Wand links
    else if ((Sensor2.read() < DIFF2) and (Sensor3.read() > DIFF3)) {
        if ((Sensor2.read() - DISTANCE + OFFSET) > TOLERANCE1) {
            int sr = 80 + DIFF;
            //printf("Karolina\r\n");
            return sr;
        } else if ((Sensor2.read() - DISTANCE + OFFSET) < TOLERANCE2) {
            int sr = 80 - DIFF;
            return sr;
        } else {
            sr = SPEED;
            return sr;
        }
    }
    // nur Wand rechts
    else if((Sensor3.read() < DIFF2) and (Sensor2.read() > DIFF3)) {
        if ((Sensor3.read() - DISTANCE) > TOLERANCE1) {
            int sr = 80 - DIFF;
            //printf("Karolina\r\n");
            return sr;
        } else if ((Sensor3.read() - DISTANCE) < TOLERANCE2) {
            int sr = 80 + DIFF;
            return sr;
        } else {
            sr = SPEED;
            return sr;
        }
    }
}