Hinderniserkennung optimiert

THOMAS-Projekt · Jul 18, 2015 · 7c84cf6 · 7c84cf6
1 parent 11b630c
commit 7c84cf6
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/CollisionDetection.cpp b/CollisionDetection.cpp
@@ -61,8 +61,8 @@ std::vector<short> CollisionDetection::CorrectWantedSpeed(short wantedSpeed[])
 	if(USensorMessurements.at(US_FRONT_LEFT) > _warnDistanceRL || USensorMessurements.at(US_FRONT_LEFT) == 0)
 	{
 		// Nach links fahren
-		newWantedSpeed.at(0) = 0;
-		newWantedSpeed.at(1) = 32767;
+		newWantedSpeed.at(0) = -100;
+		newWantedSpeed.at(1) = 100;
 
 		return newWantedSpeed;
 	}
@@ -71,8 +71,8 @@ std::vector<short> CollisionDetection::CorrectWantedSpeed(short wantedSpeed[])
 	if(USensorMessurements.at(US_FRONT_RIGHT) > _warnDistanceRL || USensorMessurements.at(US_FRONT_RIGHT) == 0)
 	{
 		// Nach rechts fahren
-		newWantedSpeed.at(0) = 32767;
-		newWantedSpeed.at(1) = 0;
+		newWantedSpeed.at(0) = 100;
+		newWantedSpeed.at(1) = -100;
 
 		return newWantedSpeed;
 

diff --git a/CollisionDetection.h b/CollisionDetection.h
@@ -40,10 +40,10 @@ namespace THOMAS
 		ArduinoProtocol *_arduinoProtocol;
 
 		// Ab wann soll die Hindernisserkennung eingreifen (in cm)
-		int _warnDistance = 50;
+		int _warnDistance = 30;
 
 		// Ab wann soll die Hindernisserkennung eingreifen - Rechte und Linke Sensoren (in cm)
-		int _warnDistanceRL = 100;
+		int _warnDistanceRL = 40;
 
 		// Die Tolleranz der Messungen
 		int _tolerance = 10;