From 98c623dc8969151c0872a2d102d486f9a735d614 Mon Sep 17 00:00:00 2001
From: neoraider <devnull@localhost>
Date: Tue, 3 Apr 2007 12:47:03 +0000
Subject: Neues Rescue-Programm angefangen

---
 Navigation.c | 46 ++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 46 insertions(+)
 create mode 100644 Navigation.c

(limited to 'Navigation.c')

diff --git a/Navigation.c b/Navigation.c
new file mode 100644
index 0000000..9a3f69d
--- /dev/null
+++ b/Navigation.c
@@ -0,0 +1,46 @@
+#include "Navigation.h"
+
+
+void Navigation::start() {
+  int r = m_speed, l = m_speed;
+  
+  
+  switch(m_richtung)
+  {
+    case -2:
+	  l = 0;
+	  break;
+    case -1:
+	  l /= 4;
+	  break;
+    case 1:
+	  r /= 4;
+	  break;
+    case 2:
+	  r = 0;
+  }
+  
+  m_board->motor(MOTOR_PORT_LINKS, l);
+  m_board->motor(MOTOR_PORT_RECHTS, r);
+
+  m_gestartet = true;
+}
+
+void Navigation::stop() {
+  m_board->motor(MOTOR_PORT_LINKS, 0);
+  m_board->motor(MOTOR_PORT_RECHTS, 0);
+
+  m_gestartet = false;
+}
+
+void Navigation::setSpeed(int speed) {
+  m_speed = (speed > 255) ? 255 : (speed < -255) ? -255 : speed;
+
+  if(m_gestartet) start();
+}
+
+void Navigation::setRichtung(int richtung) {
+  m_richtung = richtung;
+
+  if(m_gestartet) start();
+}
-- 
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