neues

Code/Temperatur_und_Abstandsmesung/Temperatur_und_Abstandsmessung/Temperatur_und_Abstandsmessung.ino

@@ -0,0 +1,115 @@
+#include <OneWire.h>
+
+#define trig PD3
+#define echo PD4
+
+long distance = 0;
+int count = 0;
+
+// ISR For Timer
+ISR(TIMER0_COMPA_vect){
+
+  //set count depending on tcnt0 and the prescaler
+  if(count == 96){
+    count = 0;
+    TCNT0 = 0;
+
+    digitalWrite(trig, HIGH);
+    // ... wait for 10 µs ...
+    
+    delayMicroseconds(10);
+    // ... put the trigger down ...
+    digitalWrite(trig, LOW);
+
+    PCICR |= 0b00000100;
+    PCMSK2 |= 0b00010000;
+    
+  } else {
+    count++;
+  }  
+}
+
+//ISR for PCINT20
+ISR(PCINT2_vect) {
+  distance = pulseIn(echo, HIGH);
+  
+  PCICR &= ~0b00000100;
+  PCMSK2 &= ~0b00010000;
+  delayMicroseconds(10);
+}
+
+long calculateDistance(){
+  return (long) (((float) distance/ 58.0));
+}
+
+int16_t dallas(int x, byte start){
+  
+  OneWire ds(x);
+  byte i;
+  byte data[2];
+  int16_t result;
+
+  do{
+    ds.reset();
+    ds.write(0xCC); //skip Command
+    ds.write(0xBE); //Read 1st 2 bytes of Scratchpad
+    result = 0;
+    for(i = 0; i < 2; i++){
+      data[i] = ds.read();
+      result += data[i];
+    }
+
+    result = result/2;
+    ds.reset();
+    ds.write(0xCC);
+    ds.write(0x44, 1); //start conversion
+    if(start){
+      delay(1000);
+    }
+  } while(start--);
+  return result; 
+}
+
+void initS(){
+  
+  TCNT0 = 0; // reset timer
+  TCCR0A |= 0b00000010;
+  TCCR0B |= 0b0000011; //set prescaler to 64 becasue 256 does not work
+  OCR0A = 255;
+  TIMSK0 |= 0b00000010;
+  sei();  
+}
+
+void setup(){
+  Serial.begin(9600);
+  dallas(2, 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);
+
+   initS();
+}
+
+void loop(){
+
+  long run_time = micros();
+
+  Serial.print("Temperatur: ");
+  Serial.println(dallas(2, 0));
+
+  Serial.print("Distanz: ");
+  Serial.print(calculateDistance());
+  Serial.println("cm");
+  
+  run_time = micros() - run_time;
+  Serial.print("Zeit für Durchlauf: ");
+  Serial.println(run_time);
+  Serial.println();
+  delay(1000);
+
+}

Code/miniRobotRC/fahrsteuerung.ino

@@ -0,0 +1,53 @@
+void manualDigitalDrive() {
+  bool goOn = false;
+ // while(!tasten.getButtonCycle(buttonL1)) {
+    clearCommands();
+    if(!tasten.getAnyPressed()) {
+      lcd.clear();
+      lcd.println("Warte...");
+    }
+    if(tasten.checkButton(buttonB) || tasten.checkButton(buttonUp)) {
+            pwmA = -215;
+            pwmB = -255;
+            lcd.clear();
+            lcd.println("geradeaus fahren");
+            goOn =true;
+    }
+    if(tasten.checkButton(buttonC) || tasten.checkButton(buttonDown)) {
+            pwmA = 100;
+            pwmB = 255;
+            lcd.clear();
+            lcd.println("rueckwaerts fahren");
+            goOn =true;
+     }
+    if(tasten.checkButton(buttonRight)) {
+        pwmA = -100;  //rechter Motor
+        pwmB = 100;
+        lcd.clear();
+        lcd.println("rechts lenken");
+            goOn =true;
+    } 
+    if(tasten.checkButton(buttonLeft)) {
+        pwmB = -100;
+        pwmA = 100;
+        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();
+}

Code/miniRobotRC/interruptRoutinen.ino

@@ -0,0 +1,5 @@
+//HIER KOMMT ALLES REIN WAS 1 MAL PRO ms AUFGERUFEN WERDEN SOLL!!!
+ISR(TIMER2_COMPA_vect) {
+  tasten.checkButtons();
+}
+//ALLE anderen ISR kommen HIER drunter!!!

Code/miniRobotRC/joystick.ino

@@ -0,0 +1,123 @@
+#define xPin A5
+#define yPin A6
+#define leftMax 255//215
+#define leftMin -255//-100
+#define rightMax 255
+#define rightMin -255
+
+volatile int16_t xValue = 0;
+volatile int16_t yValue = 0;
+volatile int16_t leftPWM = 0;
+volatile int16_t rightPWM = 0;
+
+const int16_t deadZone = 10;
+/*
+void setup() {
+  Serial.begin(115200);
+}
+
+void loop() {
+  koordinaten(analogRead(xPin), analogRead(yPin));
+  motorPWM();
+  Serial.print("X: ");
+  Serial.println(xValue);
+  Serial.print("Y: ");
+  Serial.println(yValue);
+  Serial.print("links: ");
+  Serial.println(leftPWM);
+  Serial.print("rechts: ");
+  Serial.println(rightPWM);
+
+  delay(200);
+
+}
+*/
+void motorMapping() {
+  static long temp = millis();
+  koordinaten(analogRead(xPin), analogRead(yPin));
+  motorPWM();
+  
+  pwmB = map(leftPWM, -255,255,leftMin,leftMax);
+  pwmA = map(rightPWM, -255,255,rightMin,rightMax);
+  if((millis() - temp) > 100) {
+    lcd.clear();
+    lcd.println("Links: ");
+    lcd.println(pwmB);
+    lcd.gotoXY(0,2);
+    lcd.println("Rechts: ");
+    lcd.println(pwmA);
+  }
+
+  senden();
+}
+
+void senden() {
+        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));
+}
+
+void koordinaten(uint16_t x, uint16_t y) {
+  //9-bit reichen, der ADC schafft bestenfalls 8-bit praezision
+  x = x >> 1;
+  y = y >> 1;
+  xValue = map(x, 0, 511, -255, 255);
+  yValue = map(y, 0, 511, 255, -255);
+}
+
+void motorPWM() {
+ if((abs(xValue) > deadZone) || (abs(yValue) > deadZone)) {
+  if(yValue >= 0) {
+    if(xValue >= 0) {
+    //+y , +x  
+      leftPWM = yValue;
+      rightPWM = yValue - xValue;
+      if(xValue >= yValue) {
+        leftPWM = 255;
+        rightPWM = -255;
+      }
+    } else {
+      //+y , -x
+        leftPWM = yValue;
+        rightPWM = yValue + xValue;
+        if(abs(xValue) >= yValue) {
+          leftPWM = -255;
+          rightPWM = 255;
+        }
+    }
+  } else {
+      if(xValue >= 0) {
+      //-y , +x  
+        leftPWM = yValue;
+        rightPWM = yValue + xValue;
+        if(xValue >= abs(yValue)) {
+          leftPWM = 255;
+          rightPWM = -255;
+        }
+      } else {
+        //-y , -x
+          leftPWM = yValue;
+          rightPWM = yValue - xValue;
+          if(abs(xValue) >= abs(yValue)) {
+            leftPWM = -255;
+            rightPWM = 255;
+          }
+      }
+  }
+  if(abs(xValue) < deadZone) {
+    leftPWM = yValue;
+    rightPWM = yValue;
+  }
+ } else {
+    leftPWM = 0;
+    rightPWM = 0;
+ }
+}