47 lines
763 B
C
47 lines
763 B
C
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#include "Navigation.h"
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void Navigation::start() {
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int r = m_speed, l = m_speed;
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switch(m_richtung)
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{
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case -2:
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l = 0;
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break;
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case -1:
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l /= 4;
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break;
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case 1:
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r /= 4;
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break;
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case 2:
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r = 0;
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}
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m_board->motor(MOTOR_PORT_LINKS, l);
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m_board->motor(MOTOR_PORT_RECHTS, r);
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m_gestartet = true;
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}
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void Navigation::stop() {
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m_board->motor(MOTOR_PORT_LINKS, 0);
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m_board->motor(MOTOR_PORT_RECHTS, 0);
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m_gestartet = false;
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}
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void Navigation::setSpeed(int speed) {
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m_speed = (speed > 255) ? 255 : (speed < -255) ? -255 : speed;
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if(m_gestartet) start();
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}
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void Navigation::setRichtung(int richtung) {
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m_richtung = richtung;
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if(m_gestartet) start();
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}
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