aktueller Code für Fernsteuerung und Roboter

Code/miniRobot/miniRobot.ino

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+/*
+ * modularer Mini Roboter mit diversen Sensoren
+ * 
+ * 
+ */
+//Funk
+#include <SPI.h>
+#include <nRF24L01.h>
+#include <RF24.h>
+#define CE A0
+#define CSN 3
+RF24 radio(A0, 3); // CE, CSN
+
+byte commands[32];       //byte 0 = command
+
+void inline clearCommands() {
+  for(uint8_t i=0; i<32; i++) {
+    commands[i] = 0xFF;
+  }
+}
+
+const byte address[6] = "00001";
+//Kommandos
+#define nothing 9 //reset/nichts tun
+#define speedA 1 // set speed A + speed
+#define dirA 2 // set direction A + dir
+#define speedB 3 // set speed B + speed
+#define dirB 4 // set direction B + dir
+#define goDrive 5 //go + time to go
+#define stopDrive 6 //stop
+#define getTemp 7 //get temperature
+#define timeToDrive 8 //Zeitdauer des fahrens
+//Motortreiber
+//#include <MX1508.h>
+#include <L298N.h>
+
+#define BEEP 14
+
+#define PWM_PINA 10
+#define PINA 8
+#define PWM_PINB 9
+#define PINB 7
+#define NUMPWM 1
+
+#define RESOLUTION 255
+
+//MX1508 motorA(PWM_PINA,PINA, FAST_DECAY, NUMPWM);
+//MX1508 motorB(PWM_PINB,PINB, FAST_DECAY, NUMPWM);
+L298N drive;
+
+
+volatile int pwmA = 0;
+volatile int pwmB = 0;
+bool forwardA = true;
+bool forwardB = true;
+volatile bool driveOn = false;
+
+int temperatur = 0;
+
+
+volatile long driveTimeout = 0;
+volatile long driveTimeDiff = 0;
+
+void setup() {
+  Serial.begin(115200);
+//  motorA.setPWM16(2,RESOLUTION);
+//  motorB.setPWM16(2,RESOLUTION);
+  radio.begin();
+  radio.openReadingPipe(0, address);
+  radio.setPALevel(RF24_PA_MAX);
+  radio.startListening();
+  clearCommands();
+}
+
+void loop() {
+  if (radio.available()) {
+    radio.read(&commands, sizeof(commands));
+    commandInterpretation();
+  }
+  //Serial.println(driveOn);
+  if(((millis() - driveTimeDiff) > driveTimeout)) {
+    pwmA = 0;
+    pwmB = 0;
+  }
+    drive.setPWM_A(pwmA);
+    drive.setPWM_B(pwmB);
+}
+
+void commandInterpretation() {
+  for(uint8_t i = 0; i < 28; i += 3) {
+    switch(commands[i]) {
+      case nothing :  {
+                      pwmA = 0;
+                      pwmB = 0;
+                      forwardA = true;
+                      forwardB = true;
+                      driveOn = false;
+                      break;
+      }
+      case speedA :   {
+                      int temp1;
+                      temp1 = (0xFF00 & (commands[i+1] << 8));
+                      temp1 |= (0x00FF & commands[i+2]);
+                      pwmA = temp1;
+                      break;
+      }
+      case dirA :     {
+                      bool temp2 = commands[i+2];
+                      break;
+      }
+      case speedB :   {
+                      int temp3;
+                      temp3 = (0xFF00 & (commands[i+1] << 8));
+                      temp3 |= (0x00FF & commands[i+2]);
+                      pwmB = temp3; 
+                      break;
+      }
+      case dirB :     {
+                      bool temp4;
+                      temp4 = commands[i+2];
+                      break;
+      }
+      case goDrive :  {
+                      driveOn = true;  
+                      break;
+      }
+      case stopDrive : {
+                      driveOn = false;      
+                      break;
+      }
+      case getTemp :  {
+                      temperatur = (0xFF00 & (commands[i+1] << 8));
+                      temperatur |= (0x00FF & commands[i+2]);   
+                      break;
+      }
+      case timeToDrive : {
+                        uint16_t driveTime = 0;
+                        driveTime = (0xFF00 & (commands[i+1] << 8));
+                        driveTime |= (0x00FF & commands[i+2]); 
+                        driveTimeout = (long)driveTime;
+                        driveTimeDiff = millis();
+                        Serial.println(driveTimeout);
+                        break;
+      }
+      default :  {      /* pwmA = 0;
+                      pwmB = 0;
+                      forwardA = true;
+                      forwardB = true;
+                      driveOn = false; */
+                      break; 
+      }
+    }
+  }
+  clearCommands();
+}

Code/miniRobotRC/_main.ino

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+#include <avr/interrupt.h>
+#include <avr/io.h>
+#include <Arduino.h>
+
+void inline clearCommands() {
+  for(uint8_t i=0; i<32; i++) {
+    commands[i] = 0xFF;
+  }
+}
+
+void setup() {
+  remoteControlInit(); 
+  funkInit();
+  Serial.begin(115200);
+  driveTimeout = 50;
+/*
+  commands[0] = speedA;
+  commands[1] = 0xFF & (pwmA >> 8);
+  commands[2] = 0xFF & pwmA;
+  
+  commands[3] = speedB;
+  commands[4] = 0xFF & (pwmB >> 8);
+  commands[5] = 0xFF & pwmB;
+
+  commands[6] = goDrive;
+
+  commands[9] = timeToDrive;
+  commands[10] = 0xFF & (driveTimeout >> 8);
+  commands[11] = 0xFF & driveTimeout; */
+  clearCommands();
+}
+
+void loop() {
+//char text[32] = "Hello";
+ // radio.write(&commands, sizeof(commands));
+  //lcdMenu();
+  //delay(10000);
+  manualDrive();
+}
+
+void lcdMenu() {
+  lcd.println("Platzhalter");
+  
+  if(tasten.getButtonCycle(buttonUp)) {
+
+    tasten.clearAllButtons();
+  }
+  if(tasten.getButtonCycle(buttonDown)) {
+
+    tasten.clearAllButtons();
+  }
+  
+}
+
+void manualDrive() {
+  bool goOn = false;
+  while(!tasten.getButtonCycle(buttonStart)) {
+    clearCommands();
+    if(!tasten.getAnyPressed()) {
+      lcd.clear();
+      lcd.println("Warte...");
+    }
+    if(tasten.checkButton(buttonB) || tasten.checkButton(buttonUp)) {
+            pwmA = -215;
+            pwmB = -255;
+           // tasten.clearButton(buttonB);
+            lcd.clear();
+            lcd.println("geradeaus fahren");
+            goOn =true;
+    }
+    if(tasten.checkButton(buttonC) || tasten.checkButton(buttonDown)) {
+            pwmA = 100;
+            pwmB = 255;
+           // tasten.clearButton(buttonC);
+            lcd.clear();
+            lcd.println("rueckwaerts fahren");
+            goOn =true;
+     }
+    if(tasten.checkButton(buttonRight)) {
+        pwmA = -100;  //rechter Motor
+        pwmB = 100;
+        //tasten.clearButton(buttonRight);
+        lcd.clear();
+        lcd.println("rechts lenken");
+            goOn =true;
+    } 
+    if(tasten.checkButton(buttonLeft)) {
+        pwmB = -100;
+        pwmA = 100;
+        //tasten.clearButton(buttonLeft);
+        lcd.clear();
+        lcd.println("links lenken");
+            goOn =true;
+    }
+      if(goOn) {
+        commands[0] = speedA;
+        commands[1] = highByte(pwmA);
+        commands[2] = lowByte(pwmA);
+        commands[3] = speedB;
+        commands[4] = highByte(pwmB);
+        commands[5] = lowByte(pwmB);
+        commands[6] = timeToDrive;
+        commands[7] = highByte(driveTimeout);
+        commands[8] = lowByte(driveTimeout);
+        commands[9] = goDrive;
+        radio.write(&commands, sizeof(commands));
+        goOn = false;
+      }
+    }
+    tasten.clearAllButtons();
+}
+
+ISR(TIMER2_COMPA_vect) { // called by timer2
+  tasten.checkButtons();  //Aufruf 1-mal pro Millisekunde
+}

Code/miniRobotRC/funkInit.ino

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+void funkInit() {
+  radio.begin();
+  radio.openWritingPipe(address);
+  radio.setPALevel(RF24_PA_MAX); 
+  radio.stopListening();
+}

Code/miniRobotRC/miniRobotRC.ino

@@ -0,0 +1,68 @@
+//template
+#include <PCD8544_SPI.h>
+#include <shiftRegButtonLib.h>
+#include <myInterrupts.h>
+
+#define CLR_BIT(p,n) ((p) &= ~((1) << (n)))
+#define SET_BIT(p,n) ((p) |= (1 << (n)))
+
+#define BL 10         //backlight, Hintergrundbeleuchtung LCD
+#define SD_CARD_CS 2  //D2 ist Chip Enable
+#define BAT_VOLTAGE A7 //Akkuspannung an A7
+#define _OE_LEVEL 7   //D7 fuer Output Enable Pegelwandler
+#define BRIGHTNESS OCR1B
+//globale Objekte anlegen
+volatile PCD8544_SPI lcd;
+volatile myInterrupts Timer2;
+volatile myInterrupts pwmBL;
+volatile shiftRegButton tasten;
+
+//Kommandos
+#define nothing 9 //reset/nichts tun
+#define speedA 1 // set speed A + speed
+#define dirA 2 // set direction A + dir
+#define speedB 3 // set speed B + speed
+#define dirB 4 // set direction B + dir
+#define goDrive 5 //go + time to go
+#define stopDrive 6 //stop
+#define getTemp 7 //get temperature
+#define timeToDrive 8 //Zeitdauer des fahrens
+
+int pwmA = 0;
+int pwmB = 0;
+bool forwardA = true;
+bool forwardB = true;
+bool driveOn = false;
+uint16_t driveTimeout = 0;
+//#define highByte(x) ( (x) >> (8) ) // keep upper 8 bits
+//#define lowByte(x) ( (x) & (0xff) ) // keep lower 8 bits
+
+#include <SPI.h>
+#include <nRF24L01.h>
+#include <RF24.h>
+
+RF24 radio(A2, A3); // CE, CSN
+
+const byte address[6] = "00001";
+
+uint8_t commands[32];
+
+const String mainMenu[] = {
+  "fahren",                   //0
+  "stoppen",               //1
+  "manuell fahren",           //2
+  "",            //3
+  "",          //4
+  "",         //5
+  "",          //6
+  "",          //7  
+  "",          //8
+  ""           //9
+};
+
+const String subMenuEntry0[] = {
+  "Zeitdauer",
+  "Speed A",
+  "Speed B",
+  "Starten"  
+};

Code/miniRobotRC/remoteControlInit.ino

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+void remoteControlInit() {
+//Timer2 fuer 1ms initialisieren
+  Timer2.initTimer2();
+  Timer2.enableTimer2Interrupt();
+//Hintergrundbeleuchtung pwm
+  pwmBL.initOCR1B();
+//Pegelwandler ein
+  pinMode(_OE_LEVEL, OUTPUT);
+  digitalWrite(_OE_LEVEL, HIGH);
+//Hintergrundbeleuchtung an, halbe Helligkeit  
+  pinMode(BL, OUTPUT);
+  BRIGHTNESS = 30;
+//LCD init,   invert, vop, tempcoef, bias  
+  lcd.begin(false, 0xB1, 0x04, 0x12);
+  lcd.clear();
+//erster Taster check
+  tasten.checkButtons();
+}