Matti Borchers
/
mbed_amf_controlsystem_iO_copy
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Fork of
mbed_amf_controlsystem_iO_copy
by 
Oliver Wenzel
Diff: Modus/Parking.cpp
- Revision:
- 18:0e8ad413a840
- Parent:
- 17:76636aaf80de
--- a/Modus/Parking.cpp Mon Feb 08 14:56:34 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,50 +0,0 @@
-#include "Modus/Parking.h"
-
-int Parking::lightimpulseCounter;
-
-void Parking::increaseLightimpulseCounter(){
- lightimpulseCounter++;
-}
-
-int Parking::getDistance(void){
- int distance = lightimpulseCounter * 4;
- lightimpulseCounter = 0;
- return distance;
-}
-
-void Parking::parking_thread(void const *args) {
- float size_parking_space;
-
- if(Parking::redlight == 1){
- while(true){
- do{
- }while(Parking::redlight == 1);
- Parking::getDistance();
- do{
- }while(Parking::redlight == 0);
-
- size_parking_space = Parking::getDistance();
- //serialMinnow.printf("Parklücke[mm]: %f\r\n", size_parking_space);
-
- if(size_parking_space < 600 && size_parking_space > 500){
-
- drivePWM.pulsewidth_us(1700); //Stück nach vorne fahren
- wait_ms(400);
- drivePWM.pulsewidth_us(1500); //Stehen
- wait_ms(200);
- drivePWM.pulsewidth_us(1325); //1. Einschlag voll rechts
- steerPWM.pulsewidth_us(2000);
- wait_ms(970);
- steerPWM.pulsewidth_us(1000); //2. Einschlag - voll links
- wait_ms(950);
- drivePWM.pulsewidth_us(1700); //Korrektur nach vorne - leicht rechts
- steerPWM.pulsewidth_us(1700);
- wait_ms(420);
- drivePWM.pulsewidth_us(1500); //Ende
- steerPWM.pulsewidth_us(1500);
- //3mal aufblinken der Blinker
- break;
- }
- }
- }
-}
\ No newline at end of file