neues

Code/miniRobotRC/_main.ino

@@ -12,104 +12,24 @@ void setup() {
   remoteControlInit(); 
   funkInit();
   Serial.begin(115200);
-  driveTimeout = 50;
-/*
-  commands[0] = speedA;
-  commands[1] = 0xFF & (pwmA >> 8);
-  commands[2] = 0xFF & pwmA;
+  driveTimeout = 10;
 
-  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();
+  while(!tasten.getButtonCycle(buttonStart)) {
+    manualDigitalDrive();
+  } 
+  tasten.clearButton(buttonStart);
+  while(!tasten.getButtonCycle(buttonStart)) motorMapping();
+  tasten.clearButton(buttonStart);
+  
 }
 
 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/miniRobotRC.ino

@@ -1,4 +1,3 @@
-//template
 #include <PCD8544_SPI.h>
 #include <shiftRegButtonLib.h>
 #include <myInterrupts.h>
@@ -34,9 +33,7 @@ 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
-
+//Funk
 #include <SPI.h>
 #include <nRF24L01.h>
 #include <RF24.h>
@@ -46,7 +43,7 @@ RF24 radio(A2, A3); // CE, CSN
 const byte address[6] = "00001";
 
 uint8_t commands[32];
-
+/*
 const String mainMenu[] = {
   "fahren",                   //0
   "stoppen",               //1
@@ -65,4 +62,4 @@ const String subMenuEntry0[] = {
   "Speed A",
   "Speed B",
   "Starten"  
-};
+}; */