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die Motortemperatur zu messen. Der DS18b20 speichert die Temperatur als einen 9bit - 12bit Wert und kann Temperaturen im Bereich von -55°C bis 125°C messen. Für unsere Bedürfnisse reicht es wenn wir in 1-er Schritten messen. Der Sensor kommt aber auch mit kleineren Inkrementen zu recht. Der Senser benötig jedoch die OneWire Library.\\ +Wie bereits erwähnt benutzen wir einen Dallas DS18b20 1-Wire Digital Thermometer, um die Motortemperatur zu messen. Der DS18b20 speichert die Temperatur als einen 9bit - 12bit Wert und kann Temperaturen im Bereich von -55°C bis 125°C messen. Für unsere Bedürfnisse reicht es wenn wir in 1-er Schritten messen. Der Sensor kommt aber auch mit kleineren Inkrementen zu recht. Der Sensor benötigt die OneWire-Library um angesprochen zu werden.\\ \begin{figure}[h] \includegraphics[width=12cm]{ds18b20.jpg} \centering \caption{Der benutzte Sensor \\1) Erdung 2) Datenleitung 3) Spannung} \end{figure} -Eine Messung wird durchgeführt indem der Sensor Takte, innerhalb eines Zeitfensters zählt. Der Zähler startet bei einem Wert, der -55°C darstellt. Erreicht der Zähler 0 schneller als das vorgegebene Zeitfenster wird das Temperaturregister inkrementiert. Der Zähler wird auf einen vom Slope Accumulator Circuitry abhängigen wert gestellt und wieder runtergezählt. Dies wiederholt sich solange bis das festgelegte Zeitfenster abgelaufen ist. \\ +Eine Messung wird durchgeführt indem der Sensor Takte, innerhalb eines Zeitfensters zählt. Der Zähler startet bei einem Wert, der -55°C darstellt. Erreicht der Zähler 0 schneller als das vorgegebene Zeitfenster wird das Temperaturregister inkrementiert. Der Zähler wird dann auf einen vom Slope Accumulator Circuitry abhängigen wert gestellt und wieder runtergezählt. Dies wiederholt sich solange bis das festgelegte Zeitfenster abgelaufen ist. \\ \\ Es gibt verschiedene Wege den Code für den Sensor zu implementieren. Der einfachste Weg wäre die DallasTemperature-Library zu benutzen. @@ -351,98 +351,65 @@ Es gibt verschiedene Wege den Code für den Sensor zu implementieren. Der einfac \begin{lstlisting}[language=C++] #include #include - -// OneWire auf Pin 4 setzen -OneWire oneWire(4); - -// DallasTemperatures den OneWire zuweisen + +OneWire oneWire(x); DallasTemperatures sensors(&oneWire); void setup(){ - Serial.begin(9600); - + Serial.begin(9600); // Die Library starten sensors.begin(); } void loop(){ // Temperaturmessung anfordern - sensors.requestTemperatures(); - + sensors.requestTemperatures(); // Temperatur anzeigen - Serial.print(sensors.getTempCByIndex(0)); + Serial.print(sensors.getTempCByIndex(y)); } \end{lstlisting} \end{file} -Das war auch der erste Ansatz. Der Clue an der Sache ist jedoch, dass die Prozedur auf die Weise etwa 600ms dauert und das den Roboter viel zu lange blockieren würde, da er in der Zeit keine weiteren Befehle verarbeiten kann. Also wurde diese Idee gestrichen und nach einer effizienteren Alternative gesucht.\\ +OneWire wird auf Pin 4 initialisiert, dann wird OneWire an sensors() übergeben. Damit weiß die Library wo der Sensor angeschlossen ist. Mit sensors.begin() startet man die Library. Eine Messung fordert man mit requestTemperatures() an und mit getTempCByIndex(y) kann man einen bestimmten Sensor, wenn man mehrere hat, nach der Temperatur in Grad Celsius abfragen. Mit der Library ist das ganze also sehr einfach.\\ +\\ +Das war auch der erste Ansatz. Der Clue an der Sache ist jedoch, dass die Prozedur auf die Weise etwa 600ms dauert und das den Roboter viel zu lange blockieren würde, da er in der Zeit keine weiteren Befehle verarbeiten kann. Also wurde diese Idee mitsamt der Library gestrichen und nach einer effizienteren Alternative gesucht.\\ \\ Für unsere Implementierung haben wir uns an\\ \url{https://www.scargill.net/reading-dallas-ds18b20-chips-quickly/} orientiert. Dieses Beispiel ermöglicht es eine Messung in nur 5ms durchzuführen. Es wurden jedoch einige Änderungen in der Umrechnung der Temperatur gemacht. Da ein Einsatz in negativen Temperaturen nicht vorgesehen ist, machen wir eine viel simplere Umrechnung als die im Blog. \\ \\ -\begin{file}[DS18B20-1] +\begin{file}[DS18B20] \begin{lstlisting}[language=C++, inputencoding={utf8}, extendedchars=false] #include -// DallasTemperature Library nicht notwendig + int16_t dallas(int x){ - // Initialisierung von OneWire auf Pin x + // Initialisiergung OneWire ds(x); - // Initialisierung unserer Prozesswerte - byte i; byte data[2]; - int16_t result; - // Chip zurücksetzen + int16_t result = 0; + // Auf Scratchpad schreiben ds.reset(); - // Rom überspringen ds.write(0xCC); - // Auslesen der Werte aus dem Scratchpad ds.write(0xBE); - result = 0; - // Die Datenbytes speichern - for(i = 0; i < 2; i++){ + // Vom Scratchpad lesen + for(int i = 0; i < 2; i++){ data[i] = ds.read(); } - // Umrechnung der Werte in Grad Celsius result = (data[1]<<8)|data[0]; result = result/16; + // Messen ds.reset(); ds.write(0xCC); - // Messung starten ds.write(0x44, 1); return result; } \end{lstlisting} \end{file} - -\begin{file}[DS18B20-2] - - \begin{lstlisting}[language=C++, inputencoding={utf8}, extendedchars=false] -void setup(){ - Serial.begin(9600); - - // Initiale Messung auf Pin 4 - dallas(4); - -} - -void loop(){ - // Messung der Temperatur - int16_t temp = dallas(4); - - // Anzeigen der Temperatur - Serial.println(temp); - -} - - \end{lstlisting} - -\end{file} -Im Groben, holen wir uns hier nur den Binärwert vom Sensor und teilen ihn durch 16. Die 16 ergibt sich aus einer Tabelle aus dem Datenblatt, aus der sich alle Werte über 0 Null einfach als das 16-fache der Temperatur bilden. Man kann damit zwar keine negativen Werte berechnen, aber das ist für unsere Bedürfnisse vollkommen ausreichend.\\ -\\ -Um den Roboter so wenig wie möglich zu belasten und somit eine eine schnelle Reaktionszeit zu ermöglichen, wird die Temperaturmessung nur alle 100ms durchgeführt und nur jede Sekunde durch den Funkcontroller abgefragt. +Wir initialsieren im Beipspiel OneWire auf einen beliebigen Pin und setzen den Sensor mit reset() zurück. Die ROM Adresse wird dabei mit write(0xCC) übersprungen, da wir nur einen Temperatursensor haben und es somit reicht, dass wir alle Geräte auf dieser OneWire-Verbindung ansprechen.Mit write(0xBE) wird dem Sensor gesagt, dass er die Werte auf dem Scratchpad speichern soll, die wir dann mit read() in einen Array einlesen. Die Werte im Array führen wir dann zusammen und teilen sie durch 16. Die 16 ergibt sich aus einer Tabelle aus dem Datenblatt. Bei genauerer Betrachtung stellt man Fest, dass die Temperatur Werte über 0 einfach nur die Binärwerte geteilt durch 16 sind. da es für unsere Bedürfnisse genügt, dass wir nur die positiven Werte messen, belassen wir es bei dieser einfachen Umrechnung. Dann wird der Chip wieder resetet, die Addresierung übersprungen und mit write(0x44) eine Messung durchgeführt. Es empfiehlt sich in der setup() Funktion die dallas() Funtion aufzurufen, damit er in der loop() den richtigen Wert erhält.\\ +\\ +Um den Roboter so wenig wie möglich zu belasten und somit eine eine schnelle Reaktionszeit zu ermöglichen, wird die Temperaturmessung nur alle 100ms durchgeführt und nur jede Sekunde durch den Funkcontroller abgefragt. Die Abfrage wird, aus Übersichtsgründen, abseits der Steuerung gemacht. \newpage \section{Ultraschallsensor} %Nick @@ -461,52 +428,37 @@ In der ISR messen wir die Zeit bis ein Echo ankommt und teilen es, wie im Datenb \begin{file}[HC-SR04] \begin{lstlisting}[language=C++, inputencoding={utf8}, extendedchars=false] -// Trigger- und Echo Pins setzen int trig = 3; int echo = 4; long distance; ISR(PCINT2_vect) { //Zeit des Signals messen - distance = pulseIn(echo, HIGH); - distance = distance/58; - // Pinchange Interrupt ausmachen + distance = pulseIn(echo, HIGH)/58; + // Pinchange Interrupt ausschalten PCICR &= ~0b00000111; - PCMSK2 &= ~(1 << echo); - - delayMicroseconds(10); - + PCMSK2 &= ~(1 << echo); + delayMicroseconds(10); } void measureDistance(){ - // Signal für Messung abgeben + // Signal zur Messung abgeben digitalWrite(trig, HIGH); delayMicroseconds(10); - // Signal für Messung abgeben + // Signal zur Messung abschalten digitalWrite(trig, LOW); // Pinchange Interrupt aktivieren PCICR |= 0b00000100; - PCMSK2 |= (1 << echo); - -} - -void setup(){ - // Trigger Pin als Ausgang setzen - pinMode(trig, OUTPUT); - // Echo Pin als Eingang setzen - pinMode(echo, INPUT); - // Trigger resetten - digitalWrite(trig, LOW); -} - -void loop(){ - // Distanz messen - measureDistance(); + PCMSK2 |= (1 << echo); } - \end{lstlisting} \end{file} +In der setup() Funktion müssen wir den Trigger Pin als Ausgang und den Echo Pin als Eingang definieren und ein initiales Sigal mit dem trigger Pin senden.\\ +\\ +Die measureDistance() Funktion, leitet die Messung ein. Sie gibt aus dem Trigger mit digitalWrite(trig, HIGH) Pin ein Signal an den Sensor, der dann ein Ultraschallsignal von sich für 10 Mikrosekunden abgibt, welches mit digitalWrite(trig, LOW) wieder abgestellt wird. Im Anschluss aktivieren wir die nötigen Bits im PCICR und PCMSK2 Register um den Pinchange Interrupt für unseren echo Pin zu aktivieren. Die ISR führt dann die eigentliche Messung mit pulseIn(echo, HIGH) durch und deaktivieren Pinchange Register wieder damit die ISR nicht versehentlich durch ein anderes Signal ausgeführt wird.\\ +\\ +Mit der Distanz die wir nun haben können wir den Roboter stoppen lassen, wenn er zu nah an einen Gegenstand ranfährt. Ihn aber komplett zu stoppen wäre unsinnig, da er sich überhaupt nicht mehr bewegen könnte. Also gucken wir nach den Motorgeschwindigkeiten und setzen diese nur auf 0 wenn sie mit einer Vorwärtsbewegung übereinstimmen. 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z4BlPgj8J=lgnB`O9iRVv0gY*?d(3fdLid0roZX~qIKwqfExEL}JF7A|ai(E@K1#qL ze_C|I%(r1?_~fpkMp{gmWB}d#3|<3CkELmNuh;3)HnGBnpRcG!a+11k(^c>NY|h=4 z32tooTf{yixBh$B{O;(5}Am zEZg93n;y#_@;WTuS1dbfN>p~V{==xiLiKLZ@9O=^5vC^QeXSKetFoZ7*Zn;OPvy-0 z4-X1#U+wU#*0U|e+~6@R(#&H^jyWiPVVJ0;7F>J1XwEZaJ6IQ|+DNsd^_kb8>_4P0 zO0|?~o7Et* Date: Wed, 12 Feb 2020 18:57:38 +0100 Subject: [PATCH 3/5] Distanzmessung den Anforderungen entsprechend designed --- Code/miniRobot/miniRobot.ino | 67 ++++++++++++-------------- Code/miniRobot/temperatureDistance.ino | 64 ------------------------ Code/miniRobotRC/_main.ino | 4 +- 3 files changed, 32 insertions(+), 103 deletions(-) diff --git a/Code/miniRobot/miniRobot.ino b/Code/miniRobot/miniRobot.ino index eec400d..f87e226 100644 --- a/Code/miniRobot/miniRobot.ino +++ b/Code/miniRobot/miniRobot.ino @@ -12,9 +12,9 @@ RF24 radio(A0, 3); // CE, CSN byte commands[32]; //byte 0 = command -unsigned long timer; -int16_t temperature = 0; -uint16_t distance = 50; + + + void inline clearCommands() { for(uint8_t i=0; i<32; i++) { @@ -64,6 +64,17 @@ volatile bool driveOn = false; volatile long driveTimeout = 0; volatile long driveTimeDiff = 0; +volatile bool startNewMeasurement = true; + +volatile uint32_t pulseStart = 0; +volatile uint32_t pulseLength = 1; + +volatile bool newResult = false; + +uint32_t timer = 0; +int16_t temperature = 0; +uint16_t distance = 50; + void setup() { Serial.begin(115200); // motorA.setPWM16(2,RESOLUTION); @@ -83,49 +94,38 @@ void setup() { } void loop() { - //Temperatur- und Abstandsmessung - //Serial.println(temperature); - //Serial.println(distance); - - - unsigned long currentMillis = millis(); - - if((unsigned long)(currentMillis - timer) >= 100){ + //Temperatur- und Abstandsmessung + if((millis() - timer) >= 100){ temperature = dallas(4, 0); - measureDistance(); - distance = calculateDistance(); - timer = currentMillis; - + if(startNewMeasurement) { + measureDistance(); + } + timer = millis(); } - - - + if(newResult) { + // Serial.println("berechnen"); + distance = calculateDistance(); + } if (radio.available()) { radio.read(&commands, sizeof(commands)); commandInterpretation(); } - //Serial.println(driveOn); +//Antrieb abschalten wenn kein neuer Fahrbefehl kommt if(((millis() - driveTimeDiff) > driveTimeout)) { pwmA = 0; pwmB = 0; } - +//Wenn Mindestdistanz unterschritten, stopp if(distance < 20){ - //Serial.println("Achtung!"); if(pwmA < 0 && pwmB < 0){ pwmA = 0; pwmB = 0; } } - - drive.setPWM_A(pwmA); - drive.setPWM_B(pwmB); - - - + drive.setPWM_B(pwmB); } void commandInterpretation() { @@ -184,21 +184,14 @@ void commandInterpretation() { driveTime |= (0x00FF & commands[i+2]); driveTimeout = (long)driveTime; driveTimeDiff = millis(); - Serial.println(driveTimeout); + //Serial.println(driveTimeout); break; } - default : { /* pwmA = 0; - pwmB = 0; - forwardA = true; - forwardB = true; - driveOn = false; */ - - - break; + default : { + break; } } } - clearCommands(); } diff --git a/Code/miniRobot/temperatureDistance.ino b/Code/miniRobot/temperatureDistance.ino index 8ef7dc2..d090b3d 100644 --- a/Code/miniRobot/temperatureDistance.ino +++ b/Code/miniRobot/temperatureDistance.ino @@ -1,58 +1,5 @@ #include -#define maxDistance 400 - -int trig; -int echo; - -unsigned long distance3 = 0; -unsigned long distance2 = 0; - -//ISR for PCINT2 -ISR(PCINT2_vect) { - distance3 = pulseIn(echo, HIGH); - if(distance3 > 0){ - distance2 = distance3; - } - - - PCICR &= ~0b00000111; - PCMSK2 &= ~0b00010000; - delayMicroseconds(10); -} - -void setEchoPins(int pin1, int pin2){ - - trig = pin1; - echo = pin2; - -} - -int16_t calculateDistance(){ - int16_t result2 = (int16_t)(((float) distance2/ 58.0)); - if(result2 > maxDistance){ - result2 = maxDistance; - } - return result2; -} - -void measureDistance(){ - - digitalWrite(trig, HIGH); - // ... wait for 10 µs ... - - delayMicroseconds(10); - // ... put the trigger down ... - - digitalWrite(trig, LOW); - - Serial.println("messe..."); - PCICR |= 0b00000100; - PCMSK2 |= (1 << echo); - - -} - int16_t dallas(int x, byte start){ OneWire ds(x); @@ -85,17 +32,6 @@ int16_t dallas(int x, byte start){ void tempDistSetup(){ dallas(4, 1); - - // Initializing Trigger Output and Echo Input - pinMode(trig, OUTPUT); - pinMode(echo, INPUT); - - // Reset the trigger pin and wait a half a second - digitalWrite(trig, LOW); - delayMicroseconds(500); - - sei(); - } void runMeasurements(){ diff --git a/Code/miniRobotRC/_main.ino b/Code/miniRobotRC/_main.ino index 6fc4f7b..c845d9c 100644 --- a/Code/miniRobotRC/_main.ino +++ b/Code/miniRobotRC/_main.ino @@ -28,13 +28,13 @@ void loop() { lcdLines[5] = temp_str; refreshLCD(); } - tasten.clearButton(buttonStart); + tasten.clearButton(buttonStart); /* while(!tasten.getButtonCycle(buttonStart)){ motorMapping(); //updateTemp(); refreshLCD(); } - tasten.clearButton(buttonStart); + tasten.clearButton(buttonStart); */ while(!tasten.getButtonCycle(buttonStart)){ joystickSteuerung(); //TODO () //updateTemp(); From b52a94d2699fd35cd0f4af54a1f8b528c5a86944 Mon Sep 17 00:00:00 2001 From: Yves Ehrlich Date: Wed, 12 Feb 2020 19:08:21 +0100 Subject: [PATCH 4/5] Timeout fuer Temperaturmessung added --- Code/miniRobotRC/_main.ino | 2 +- Code/miniRobotRC/fahrsteuerung_old.ino | 4 ---- Code/miniRobotRC/temp.ino | 16 ++++++---------- 3 files changed, 7 insertions(+), 15 deletions(-) diff --git a/Code/miniRobotRC/_main.ino b/Code/miniRobotRC/_main.ino index c845d9c..1b13811 100644 --- a/Code/miniRobotRC/_main.ino +++ b/Code/miniRobotRC/_main.ino @@ -23,7 +23,7 @@ void loop() { while(!tasten.getButtonCycle(buttonStart)) { manualDigitalDrive(); - //updateTemp(); + updateTemp(); String temp_str = "T: " + String(temperature) + " Grad C"; lcdLines[5] = temp_str; refreshLCD(); diff --git a/Code/miniRobotRC/fahrsteuerung_old.ino b/Code/miniRobotRC/fahrsteuerung_old.ino index 6df8ee4..2ddca74 100644 --- a/Code/miniRobotRC/fahrsteuerung_old.ino +++ b/Code/miniRobotRC/fahrsteuerung_old.ino @@ -1,7 +1,6 @@ void manualDigitalDrive() { bool goOn = false; - // while(!tasten.getButtonCycle(buttonL1)) { clearCommands(); if(!tasten.getAnyPressed()) { lcdLines[0] = "Warte..."; @@ -47,7 +46,4 @@ void manualDigitalDrive() { radio.write(&commands, sizeof(commands)); goOn = false; } - - // } - // tasten.clearAllButtons(); } diff --git a/Code/miniRobotRC/temp.ino b/Code/miniRobotRC/temp.ino index 0e645aa..b4fbf03 100644 --- a/Code/miniRobotRC/temp.ino +++ b/Code/miniRobotRC/temp.ino @@ -1,28 +1,24 @@ //Temperatur <3 void updateTemp(){ - unsigned long currentMillis = millis(); - if((unsigned long)(currentMillis - temp_time) >= 1000){ // jede Sekunden + if((unsigned long)(millis() - temp_time) >= 1000){ // jede Sekunden temp_time = millis(); bool err = false; clearCommands(); commands[0] = getTemp; - radio.write(&commands, sizeof(commands) /* && !err */); + radio.write(&commands, sizeof(commands)); unsigned long start = micros(); radio.startListening(); while(!radio.available()){ //Serial.println("nix"); - unsigned long currentMicros = micros(); + /* unsigned long currentMicros = micros(); if((unsigned long)(currentMicros - start) >= 1){ err = true; - } -/* - int16_t readData; - radio.read(&readData, sizeof(int16_t)); - temperature = readData; */ + } */ + if((millis() - temp_time) >= 10) break; } - if(!err){ + if(/* !err */ true){ int16_t readData; radio.read(&readData, sizeof(int16_t)); temperature = readData; From 53835d471463a98986457f89555172935ab61a2f Mon Sep 17 00:00:00 2001 From: Yves Ehrlich Date: Wed, 12 Feb 2020 19:08:50 +0100 Subject: [PATCH 5/5] Distanzmessung den Anforderungen entsprechend designed --- Code/miniRobot/distance.ino | 64 +++++++++++++++++++++++++++++++++++++ 1 file changed, 64 insertions(+) create mode 100644 Code/miniRobot/distance.ino diff --git a/Code/miniRobot/distance.ino b/Code/miniRobot/distance.ino new file mode 100644 index 0000000..23b4ec0 --- /dev/null +++ b/Code/miniRobot/distance.ino @@ -0,0 +1,64 @@ +#define maxDistance 400 + +int trig; +int echo; + +//ISR for PCINT2 +ISR(PCINT2_vect) { + if((PIND & 64) > 0) { + pulseStart = micros(); + } else { + startNewMeasurement = true; + pulseLength = micros() - pulseStart; + newResult = true; + } + PCIFR = 0; +} + +void setEchoPins(int pin1, int pin2){ + + trig = pin1; + echo = pin2; + PCIFR = 0; + PCICR |= 0b00000100; + PCMSK2 |= (1 << echo); + + // Initializing Trigger Output and Echo Input + pinMode(trig, OUTPUT); + pinMode(echo, INPUT); + + // Reset the trigger pin and wait a half a second + digitalWrite(trig, LOW); + delayMicroseconds(500); +} + + +int16_t calculateDistance(){ + int16_t result = 1; + + if(pulseLength > 0) { + result = (int16_t)(pulseLength / 58); + } + if(result > maxDistance){ + result = maxDistance; + } + newResult = false; + //Serial.println(result); + return result; +} + +void measureDistance(){ + + digitalWrite(trig, HIGH); + // ... wait for 10 µs ... + + delayMicroseconds(10); + // ... put the trigger down ... + + digitalWrite(trig, LOW); + + //Serial.println("messe..."); + + startNewMeasurement = false; + +}