Alexander Lüthard
/
Micromouse
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Fork of
Micromouse
by 
Helvijs Kiselis
Revision 19:e2cb5b8a7a29, committed 2018-05-10
- Comitter:
- luethale
- Date:
- Thu May 10 16:33:32 2018 +0000
- Parent:
- 18:3309329d5f42
- Commit message:
- Alle Printf's auskommentiert
Changed in this revision
| Motion.cpp | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/Motion.cpp Mon May 07 19:52:54 2018 +0000
+++ b/Motion.cpp Thu May 10 16:33:32 2018 +0000
@@ -166,7 +166,7 @@
enableMotorDriver = 1;
}
- if (lineSensor.read() == 1.0f) {
+ if (lineSensor.read() >= 0.85f) {
line = 1;
}
--- a/main.cpp Mon May 07 19:52:54 2018 +0000
+++ b/main.cpp Thu May 10 16:33:32 2018 +0000
@@ -28,16 +28,14 @@
//Sensors:
- AnalogIn lineSensor(PA_4);
+ AnalogIn lineSensor(PC_5);
AnalogIn distance2(PC_3);
AnalogIn distance4(PB_1);
AnalogIn distance1(PC_2);
- AnalogIn distance3(PC_5);
IRSensor irSensorL (distance2);
IRSensor irSensorC (distance4);
IRSensor irSensorR (distance1);
- IRSensor irSensorB (distance3);
Timer t1;
@@ -98,7 +96,7 @@
}
//motion.runTask(route,r,true);
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
route[r] = 0;
r--;
} while (junc < r );
@@ -163,7 +161,7 @@
}
}
- printf("Kreuzung: %d Schritt: %d\n", j, r);
+// printf("Kreuzung: %d Schritt: %d\n", j, r);
}
//No wall left
if (lWall == 0) {
@@ -171,7 +169,7 @@
if (route[r] == LEFT) {
route[r] = MOVE;
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
r++;
motion.rotateL();
@@ -181,10 +179,10 @@
}else if (route[r] == MOVE) {
route[r] = RIGHT;
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
r++;
route[r] = MOVE;
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
r++;
motion.rotateL();
@@ -195,7 +193,7 @@
// Kreuzung führt zu Sackgassen -> löschen
junction[j] = 0; /*Änderung alex*/
//if (j > 0) {j--;}
- printf("Kreuzung %d Schritt %d geloscht\n", j, r);
+// printf("Kreuzung %d Schritt %d geloscht\n", j, r);
j -= 1;
//reverseToJunction(junction[j], r, route);
@@ -242,7 +240,7 @@
}
motion.runTask(route,r,true,junction[j]);
- printf("Schritt: %d, Befehl: %d\n", r, route[r]); //At work!!!!!
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
route[r] = 0;
r--;
@@ -253,10 +251,10 @@
}else{
route[r] = LEFT;
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
r++;
route[r] = MOVE;
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
r++;
@@ -270,10 +268,10 @@
if (route[r] == LEFT) {
route[r] = RIGHT;
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
r++;
route[r] = MOVE;
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
r++;
motion.scanMove();
@@ -283,7 +281,7 @@
junction[j] = 0; /*Änderung alex*/
//if (j > 0) {j--;}
- printf("Kreuzung %d Schritt %d geloscht\n", j, r);
+// printf("Kreuzung %d Schritt %d geloscht\n", j, r);
j -= 1;
//reverseToJunction(junction[j], r, route);
@@ -329,18 +327,18 @@
}
motion.runTask(route,r,true,junction[j]);
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
route[r] = 0;
r--;
} while (junction[j] < r );
motion.stop();
- printf("Loop stop\n");
+// printf("Loop stop\n");
}else{
route[r] = MOVE;
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
r++;
motion.scanMove();
@@ -349,10 +347,10 @@
}else if (rWall == 0) {
route[r] = RIGHT;
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
r++;
route[r] = MOVE;
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
r++;
motion.rotateR();
@@ -363,7 +361,7 @@
}else if ((lWall + cWall + rWall) == 3) {
motion.rotate180();
- printf("Sackgasse Schritt: %d\n", r);
+// printf("Sackgasse Schritt: %d\n", r);
r--;
t1.reset();
t1.start();
@@ -378,7 +376,7 @@
switch (route[r]) {
case MOVE:
motion.runTask(route,r,true, junction[j]);
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
r--;
break;
case LEFT:
@@ -406,7 +404,7 @@
}
//Run tasks in declining order
motion.runTask(route,r,true, junction[j]);
- printf("Schritt: %d, Befehl: %d\n", r, route[r]);
+// printf("Schritt: %d, Befehl: %d\n", r, route[r]);
route[r] = 0;
r--;
}