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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--; }