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#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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