Alexander Lüthard
/
Micromouse
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Fork of
Micromouse
by 
Helvijs Kiselis
Diff: Motion.cpp
- Revision:
- 2:f898adf2d817
- Parent:
- 1:2b5f79285a3e
- Child:
- 3:076dd7ec7eb4
--- a/Motion.cpp Thu Apr 19 06:19:43 2018 +0000
+++ b/Motion.cpp Thu Apr 19 11:26:51 2018 +0000
@@ -165,7 +165,120 @@
stop();
}
-
+/**
+ * Links abbiegen
+ */
+void Motion::turnL() {
+
+
+ controller.counterReset();
+ countsLOld = counterLeft.read();
+ countsROld = counterRight.read();
+ countsL = counterLeft.read();
+ countsR = counterRight.read();
+
+ controller.setDesiredSpeedLeft(50.0f);
+ controller.setDesiredSpeedRight(-50.0f);
+
+ while ((countsL - countsLOld) < 824 || (countsR - countsROld) > -824) {
+
+ countsL = counterLeft.read();
+ countsR = counterRight.read();
+
+ if (enableMotorDriver == 0) {enableMotorDriver = 1;}
+ }
+
+ controller.counterReset();
+ countsLOld = counterLeft.read();
+ countsROld = counterRight.read();
+ countsL = counterLeft.read();
+ countsR = counterRight.read();
+
+ controller.setDesiredSpeedLeft(17.0f);
+ controller.setDesiredSpeedRight(-83.0f);
+
+ while ((countsL - countsLOld) < 440 || (countsR - countsROld) > -2148) {
+
+ countsL = counterLeft.read();
+ countsR = counterRight.read();
+
+ if (enableMotorDriver == 0) {enableMotorDriver = 1;}
+ }
+
+ controller.counterReset();
+ countsLOld = counterLeft.read();
+ countsROld = counterRight.read();
+ countsL = counterLeft.read();
+ countsR = counterRight.read();
+
+ controller.setDesiredSpeedLeft(50.0f);
+ controller.setDesiredSpeedRight(-50.0f);
+
+ while ((countsL - countsLOld) < 824 || (countsR - countsROld) > -824) {
+
+ countsL = counterLeft.read();
+ countsR = counterRight.read();
+
+ if (enableMotorDriver == 0) {enableMotorDriver = 1;}
+ }
+}
+/**
+ * Rechts abbiegen
+ */
+void Motion::turnR() {
+
+
+ controller.counterReset();
+ countsLOld = counterLeft.read();
+ countsROld = counterRight.read();
+ countsL = counterLeft.read();
+ countsR = counterRight.read();
+
+ controller.setDesiredSpeedLeft(50.0f);
+ controller.setDesiredSpeedRight(-50.0f);
+
+ while ((countsL - countsLOld) < 824 || (countsR - countsROld) > -824) {
+
+ countsL = counterLeft.read();
+ countsR = counterRight.read();
+
+ if (enableMotorDriver == 0) {enableMotorDriver = 1;}
+ }
+
+ controller.counterReset();
+ countsLOld = counterLeft.read();
+ countsROld = counterRight.read();
+ countsL = counterLeft.read();
+ countsR = counterRight.read();
+
+ controller.setDesiredSpeedLeft(83.0f);
+ controller.setDesiredSpeedRight(-17.0f);
+
+ while ((countsL - countsLOld) < 2148 || (countsR - countsROld) > -440) {
+
+ countsL = counterLeft.read();
+ countsR = counterRight.read();
+
+ if (enableMotorDriver == 0) {enableMotorDriver = 1;}
+ }
+
+ controller.counterReset();
+ countsLOld = counterLeft.read();
+ countsROld = counterRight.read();
+ countsL = counterLeft.read();
+ countsR = counterRight.read();
+
+ controller.setDesiredSpeedLeft(50.0f);
+ controller.setDesiredSpeedRight(-50.0f);
+
+ while ((countsL - countsLOld) < 824 || (countsR - countsROld) > -824) {
+
+ countsL = counterLeft.read();
+ countsR = counterRight.read();
+
+ if (enableMotorDriver == 0) {enableMotorDriver = 1;}
+ }
+}
/**
* Motor Stop
*/