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Dependencies:   mbed

Fork of Versuch21 by Antonia Baumgartner

Classes/Spurhaltung.cpp

Committer:
mrbb2
Date:
2018-04-29
Revision:
3:f44ef28cfb2d
Parent:
2:efa9a78591da
Child:
5:93d3efe46493

File content as of revision 3:f44ef28cfb2d:

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

using namespace std;

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

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

Spurhaltung::~Spurhaltung() {}

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

int Spurhaltung::speedl()
{
    if(abs(Sensor3.read()-Sensor2.read())<100) {
        
        int sl = Sensor2.read() * 1.825;
        return sl;
    } else {
        int sl = 150;
        return sl;
    }
}

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

int Spurhaltung::speedr()
{
    if(abs(Sensor2.read()-Sensor3.read())<100) {
        int sr = Sensor3.read() * 1.825;
        return sr;
    } else {
        int sr = 150;
        return sr;
    }
}