From 3d38ab4b4fb6fa87c9ea7b9233652ea58ac5ee76 Mon Sep 17 00:00:00 2001
From: nickg <132455a@gmail.com>
Date: Wed, 5 Feb 2020 15:51:52 +0100
Subject: [PATCH 1/8] Moved measurement to robot instaed of RC.

---
 Code/miniRobot/miniRobot.ino                   | 17 +++++++++++++++++
 .../temperatureDistance.ino                    |  0
 Code/miniRobotRC/_main.ino                     | 18 +-----------------
 3 files changed, 18 insertions(+), 17 deletions(-)
 rename Code/{miniRobotRC => miniRobot}/temperatureDistance.ino (100%)

diff --git a/Code/miniRobot/miniRobot.ino b/Code/miniRobot/miniRobot.ino
index c05a9f1..ee410b6 100644
--- a/Code/miniRobot/miniRobot.ino
+++ b/Code/miniRobot/miniRobot.ino
@@ -12,6 +12,7 @@
 RF24 radio(A0, 3); // CE, CSN
 
 byte commands[32];       //byte 0 = command
+long timer;
 
 void inline clearCommands() {
   for(uint8_t i=0; i<32; i++) {
@@ -72,6 +73,11 @@ void setup() {
   radio.setPALevel(RF24_PA_MAX);
   radio.startListening();
   clearCommands();
+  
+  //Temperatur- und Abstandsmessung
+  tempDistSetup();
+  setEchoPins(0, 0); //Setze die pins für den Abstandsensor aus denen gelesenw erden soll das erster ist der Trigger-, das zweite der Echopin
+  timer = millis(); 
 }
 
 void loop() {
@@ -86,6 +92,17 @@ void loop() {
   }
     drive.setPWM_A(pwmA);
     drive.setPWM_B(pwmB);
+	
+  //Temperatur- und Abstandsmessung
+  
+  temperature = dallas(4, 0);
+  
+  if(millis() - timer >= 100){
+	measureDistance();
+	timer = millis();  
+  }
+  
+  distance = calculateDistance();
 }
 
 void commandInterpretation() {
diff --git a/Code/miniRobotRC/temperatureDistance.ino b/Code/miniRobot/temperatureDistance.ino
similarity index 100%
rename from Code/miniRobotRC/temperatureDistance.ino
rename to Code/miniRobot/temperatureDistance.ino
diff --git a/Code/miniRobotRC/_main.ino b/Code/miniRobotRC/_main.ino
index e851f94..27a1c49 100644
--- a/Code/miniRobotRC/_main.ino
+++ b/Code/miniRobotRC/_main.ino
@@ -2,8 +2,6 @@
 #include <avr/io.h>
 #include <Arduino.h>
 
-long timer;
-
 void inline clearCommands() {
   for(uint8_t i=0; i<32; i++) {
     commands[i] = 0xFF;
@@ -17,10 +15,7 @@ void setup() {
   driveTimeout = 10;
   joystickInit(); //TODO
   clearCommands();
-  //Temperatur- und Abstandsmessung
-  tempDistSetup();
-  setEchoPins(0, 0); //Setze die pins für den Abstandsensor aus denen gelesenw erden soll das erster ist der Trigger-, das zweite der Echopin
-  timer = millis(); 
+
 }
 
 void loop() {
@@ -38,17 +33,6 @@ void loop() {
   }
   tasten.clearButton(buttonStart);
   
-  //Temperatur- und Abstandsmessung
-  
-  temperature = dallas(4, 0);
-  
-  if(millis() - timer >= 100){
-	measureDistance();
-	timer = millis();  
-  }
-  
-  distance = calculateDistance();
-  
 }
 
 void lcdMenu() {

From b777bca88d1157c4b1de758a7bf604fa96eaa692 Mon Sep 17 00:00:00 2001
From: nickg <132455a@gmail.com>
Date: Wed, 5 Feb 2020 17:23:46 +0100
Subject: [PATCH 2/8] Fixed some issues.

---
 Code/miniRobot/miniRobot.ino           | 9 ++++++---
 Code/miniRobot/temperatureDistance.ino | 1 -
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/Code/miniRobot/miniRobot.ino b/Code/miniRobot/miniRobot.ino
index fec1642..53de7dd 100644
--- a/Code/miniRobot/miniRobot.ino
+++ b/Code/miniRobot/miniRobot.ino
@@ -13,6 +13,8 @@ RF24 radio(A0, 3); // CE, CSN
 
 byte commands[32];       //byte 0 = command
 long timer;
+int temperature;
+int distance = 0;
 
 void inline clearCommands() {
   for(uint8_t i=0; i<32; i++) {
@@ -31,7 +33,7 @@ const byte address[6] = "00001";
 #define stopDrive 6 //stop
 #define getTemp 7 //get temperature
 #define timeToDrive 8 //Zeitdauer des fahrens
-#define distance 10 //Abstand zu Objekten
+#define getDistance 10 //Abstand zu Objekten
 
 //Motortreiber
 //#include <MX1508.h>
@@ -148,8 +150,9 @@ void commandInterpretation() {
                       break;
       }
       case getTemp :  {
-                      temperatur = (0xFF00 & (commands[i+1] << 8));
-                      temperatur |= (0x00FF & commands[i+2]);   
+                      int temp5;
+                      temp5 = (0xFF00 & (commands[i+1] << 8));
+                      temp5 |= (0x00FF & commands[i+2]);   
                       break;
       }
       case timeToDrive : {
diff --git a/Code/miniRobot/temperatureDistance.ino b/Code/miniRobot/temperatureDistance.ino
index 637be31..625019a 100644
--- a/Code/miniRobot/temperatureDistance.ino
+++ b/Code/miniRobot/temperatureDistance.ino
@@ -41,7 +41,6 @@ void measureDistance(){
     
     delayMicroseconds(10);
     // ... put the trigger down ...
-    distance = 600;
 
     PORTD &= ~(1<<trig); 
     PCICR |= 0b00000100;

From a29cb76dadd4c35b911d51bff973d81df5f9ed62 Mon Sep 17 00:00:00 2001
From: nickg <132455a@gmail.com>
Date: Thu, 6 Feb 2020 09:50:08 +0100
Subject: [PATCH 3/8] Added some tex for ds1820.

---
 Latex/main.tex | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/Latex/main.tex b/Latex/main.tex
index b2ba9c7..c81c082 100644
--- a/Latex/main.tex
+++ b/Latex/main.tex
@@ -211,7 +211,7 @@ Da das Array eine feste Größe von 32 Byte hat, lassen sich folglich bis zu 10
         \end{file}
         
         Damit sind bereits Sämtliche Konfigurationen für die Hardware-SPI Kommunikation zwischen Arduino nano und dem nRF24L01 erledigt.
-        Kommunizieren zwischen zwei dieser Setups wird dann durch die Funktionen read und wirite, jedoch muss vor dem Start einer Kommunikation die Methode begin() aufgerufen werden.
+        Kommunizieren zwischen zwei dieser Setups wird dann durch die Funktionen read und write, jedoch muss vor dem Start einer Kommunikation die Methode begin() aufgerufen werden.
        \begin{file}[RF24 initialisieren]
         \begin{lstlisting}[language=C++]
             //An der Sender Seite
@@ -243,7 +243,9 @@ Da das Array eine feste Größe von 32 Byte hat, lassen sich folglich bis zu 10
 %Folgende beiden ließen sich auch durch subsections mittels sensoric als section realisieren, kommt aber auf die menge des textes an subsections sollten nicht über eine halbe seite lang sein.
 \newpage
 \section{Thermosensor} %Nick
-
+	Wie bereits erwähnt benutzen wir einen Dallas DS1820  1-Wire Digital Thermometer, um die Motortemperatur zu messen. Der DS1820 speichert die Temperatur als einen 9bit 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 halben Graden zu recht. 
+	
+	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. 
 \newpage
 \section{Ultraschallsensor} %Nick
 

From 80eb9f8ab4e29a4e983df851d375d99f2f60e290 Mon Sep 17 00:00:00 2001
From: Yves Ehrlich <yves.ehrlich@informatik.hs-fulda.de>
Date: Fri, 7 Feb 2020 21:52:36 +0100
Subject: [PATCH 4/8] LCD Darstellung geaendert, jetzt alle 100ms refresh der 6
 Zeilen

---
 .~lock.ideen_mechanik_und_elektronik.odt# |   2 +-
 Code/miniRobotRC/fahrsteuerung_old.ino    |  15 +++------
 Code/miniRobotRC/interruptRoutinen.ino    |   5 +++
 Code/miniRobotRC/joystick.ino             |  36 ++++++----------------
 Code/miniRobotRC/miniRobotRC.ino          |  33 +++++---------------
 ideen_mechanik_und_elektronik.odt         | Bin 24755 -> 25147 bytes
 6 files changed, 27 insertions(+), 64 deletions(-)

diff --git a/.~lock.ideen_mechanik_und_elektronik.odt# b/.~lock.ideen_mechanik_und_elektronik.odt#
index affc95a..0e6d32f 100644
--- a/.~lock.ideen_mechanik_und_elektronik.odt#
+++ b/.~lock.ideen_mechanik_und_elektronik.odt#
@@ -1 +1 @@
-,yves,yves-UB,05.02.2020 13:15,file:///home/yves/.config/libreoffice/4;
\ No newline at end of file
+,yves,yves-UB,05.02.2020 13:51,file:///home/yves/.config/libreoffice/4;
\ No newline at end of file
diff --git a/Code/miniRobotRC/fahrsteuerung_old.ino b/Code/miniRobotRC/fahrsteuerung_old.ino
index 915b3ba..ec64ad8 100644
--- a/Code/miniRobotRC/fahrsteuerung_old.ino
+++ b/Code/miniRobotRC/fahrsteuerung_old.ino
@@ -3,35 +3,30 @@ void manualDigitalDrive() {
  // while(!tasten.getButtonCycle(buttonL1)) {
     clearCommands();
     if(!tasten.getAnyPressed()) {
-      lcd.clear();
-      lcd.println("Warte...");
+      lcdLines[0] = "Warte...";
     }
     if(tasten.checkButton(buttonB) || tasten.checkButton(buttonUp)) {
             pwmA = -215;
             pwmB = -255;
-            lcd.clear();
-            lcd.println("geradeaus fahren");
+            lcdLines[0] = "geradeaus fahren";
             goOn =true;
     }
     if(tasten.checkButton(buttonC) || tasten.checkButton(buttonDown)) {
             pwmA = 100;
             pwmB = 255;
-            lcd.clear();
-            lcd.println("rueckwaerts fahren");
+            lcdLines[0] = "rueckwaerts fahren";
             goOn =true;
      }
     if(tasten.checkButton(buttonRight)) {
         pwmA = -100;  //rechter Motor
         pwmB = 100;
-        lcd.clear();
-        lcd.println("rechts lenken");
+        lcdLines[0] = "rechts lenken";
             goOn =true;
     } 
     if(tasten.checkButton(buttonLeft)) {
         pwmB = -100;
         pwmA = 100;
-        lcd.clear();
-        lcd.println("links lenken");
+        lcdLines[0] = "links lenken";
             goOn =true;
     }
       if(goOn) {
diff --git a/Code/miniRobotRC/interruptRoutinen.ino b/Code/miniRobotRC/interruptRoutinen.ino
index cce5cf5..09ca807 100644
--- a/Code/miniRobotRC/interruptRoutinen.ino
+++ b/Code/miniRobotRC/interruptRoutinen.ino
@@ -3,6 +3,11 @@ ISR(TIMER2_COMPA_vect) {
   tasten.checkButtons();
   renderTime++;
   if(renderTime >= renderTimeout) {
+    lcd.clear();
+    for(uint8_t i = 0; i < sizeof(lcdLines); i++) {
+      lcd.gotoXY(0, i);
+      lcd.print(lcdLines[i]);  
+    }
     lcd.renderAll();
     renderTime = 0;
   }
diff --git a/Code/miniRobotRC/joystick.ino b/Code/miniRobotRC/joystick.ino
index 70d8392..c2329e2 100644
--- a/Code/miniRobotRC/joystick.ino
+++ b/Code/miniRobotRC/joystick.ino
@@ -10,28 +10,8 @@ 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);
+const int16_t deadZone = 40;
 
-}
-*/
 void motorMapping() {
   static long temp = millis();
   koordinaten(analogRead(xPin), analogRead(yPin));
@@ -40,12 +20,14 @@ void motorMapping() {
   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);
+ //   lcd.clear();
+ //   lcd.println("Links: ");
+    lcdLines[0] = "Links: " + String(pwmB, DEC);
+ //   lcd.println(pwmB);
+ //   lcd.gotoXY(0,2);
+ //   lcd.println("Rechts: ");
+    lcdLines[0] = "Rechts: " + String(pwmA, DEC);
+ //  lcd.println(pwmA);
   }
 
   senden();
diff --git a/Code/miniRobotRC/miniRobotRC.ino b/Code/miniRobotRC/miniRobotRC.ino
index 898b88b..038a595 100644
--- a/Code/miniRobotRC/miniRobotRC.ino
+++ b/Code/miniRobotRC/miniRobotRC.ino
@@ -4,7 +4,7 @@
 
 #define CLR_BIT(p,n) ((p) &= ~((1) << (n)))
 #define SET_BIT(p,n) ((p) |= (1 << (n)))
-
+//Pinzuordnungen
 #define BL 10         //backlight, Hintergrundbeleuchtung LCD
 #define SD_CARD_CS 2  //D2 ist Chip Enable
 #define BAT_VOLTAGE A7 //Akkuspannung an A7
@@ -17,7 +17,8 @@ volatile myInterrupts pwmBL;
 volatile shiftRegButton tasten;
 //LCD
 uint8_t renderTime = 0;
-#define renderTimeout 100
+#define renderTimeout 100   //es wird alle 100ms gerendert
+String lcdLines[6];         //Strings welche alle 100ms ausgegeben werden
 
 //Kommandos
 #define nothing 9 //reset/nichts tun
@@ -31,15 +32,15 @@ uint8_t renderTime = 0;
 #define timeToDrive 8 //Zeitdauer des fahrens
 #define getDistance 10 //Abstand zu Objekten
 
-int pwmA = 0;
-int pwmB = 0;
+int16_t pwmA = 0;
+int16_t pwmB = 0;
 bool forwardA = true;
 bool forwardB = true;
 bool driveOn = false;
 uint16_t driveTimeout = 0;
 
-int distance;
-int temperature;
+int16_t distance;
+int16_t temperature;
 
 //Funk
 #include <SPI.h>
@@ -51,23 +52,3 @@ 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"  
-}; */
diff --git a/ideen_mechanik_und_elektronik.odt b/ideen_mechanik_und_elektronik.odt
index dd56f823822177fb17c31c6d4197bc69fbbff4a7..769050297aa9d58111cae8e6588f5816f21619af 100644
GIT binary patch
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From 0685326c19662caf2b3ca638a66bac758c502ce4 Mon Sep 17 00:00:00 2001
From: nickg <132455a@gmail.com>
Date: Sat, 8 Feb 2020 01:36:32 +0100
Subject: [PATCH 5/8] Fixed temperature measurement.

---
 Code/miniRobot/miniRobot.ino           | 16 ++++++++--------
 Code/miniRobot/temperatureDistance.ino | 12 +++++++-----
 Code/miniRobotRC/_main.ino             |  1 -
 Code/miniRobotRC/fahrsteuerung_old.ino |  5 +++++
 Code/miniRobotRC/miniRobotRC.ino       |  2 +-
 5 files changed, 21 insertions(+), 15 deletions(-)

diff --git a/Code/miniRobot/miniRobot.ino b/Code/miniRobot/miniRobot.ino
index 53de7dd..4f94f72 100644
--- a/Code/miniRobot/miniRobot.ino
+++ b/Code/miniRobot/miniRobot.ino
@@ -13,7 +13,7 @@ RF24 radio(A0, 3); // CE, CSN
 
 byte commands[32];       //byte 0 = command
 long timer;
-int temperature;
+int16_t temperature;
 int distance = 0;
 
 void inline clearCommands() {
@@ -78,7 +78,7 @@ void setup() {
   
   //Temperatur- und Abstandsmessung
   tempDistSetup();
-  setEchoPins(0, 0); //Setze die pins für den Abstandsensor aus denen gelesenw erden soll das erster ist der Trigger-, das zweite der Echopin
+  setEchoPins(16, 5); //16: A2, 5: D5
   timer = millis(); 
 }
 
@@ -100,8 +100,8 @@ void loop() {
   temperature = dallas(4, 0);
   
   if(millis() - timer >= 100){
-	measureDistance();
-	timer = millis();  
+  	measureDistance();
+  	timer = millis();  
   }
   
   distance = calculateDistance();
@@ -149,10 +149,9 @@ void commandInterpretation() {
                       driveOn = false;      
                       break;
       }
-      case getTemp :  {
-                      int temp5;
-                      temp5 = (0xFF00 & (commands[i+1] << 8));
-                      temp5 |= (0x00FF & commands[i+2]);   
+      case getTemp :  {                     
+                        
+                      radio.write(&temperature, sizeof(temperature));
                       break;
       }
       case timeToDrive : {
@@ -169,6 +168,7 @@ void commandInterpretation() {
                       forwardA = true;
                       forwardB = true;
                       driveOn = false; */
+                      
                       break; 
       }
     }
diff --git a/Code/miniRobot/temperatureDistance.ino b/Code/miniRobot/temperatureDistance.ino
index 625019a..216f1dd 100644
--- a/Code/miniRobot/temperatureDistance.ino
+++ b/Code/miniRobot/temperatureDistance.ino
@@ -36,13 +36,13 @@ int calculateDistance(){
 
 void measureDistance(){
     
-    PORTD |= (1<<trig);
+     digitalWrite(trig, HIGH);
     // ... wait for 10 µs ...
     
     delayMicroseconds(10);
     // ... put the trigger down ...
 
-    PORTD &= ~(1<<trig); 
+    digitalWrite(trig, LOW); 
     PCICR |= 0b00000100;
     PCMSK2 |= 0b00010000;
     
@@ -62,11 +62,13 @@ int16_t dallas(int x, byte start){
     ds.write(0xBE); //Read 1st 2 bytes of Scratchpad
     result = 0;
     for(i = 0; i < 2; i++){
-      data[i] = ds.read();
-      result += data[i];
+      data[i] = ds.read();    
     }
+    
+    result = (data[1]<<8)|data[0];
 
-    result = result/2;
+    result = result/16; //DS1820 2 DS18B20 16
+    
     ds.reset();
     ds.write(0xCC);
     ds.write(0x44, 1); //start conversion
diff --git a/Code/miniRobotRC/_main.ino b/Code/miniRobotRC/_main.ino
index 27a1c49..5d1d314 100644
--- a/Code/miniRobotRC/_main.ino
+++ b/Code/miniRobotRC/_main.ino
@@ -32,7 +32,6 @@ void loop() {
     joystickSteuerung(); //TODO ()
   }
   tasten.clearButton(buttonStart);
-  
 }
 
 void lcdMenu() {
diff --git a/Code/miniRobotRC/fahrsteuerung_old.ino b/Code/miniRobotRC/fahrsteuerung_old.ino
index ec64ad8..4c764b4 100644
--- a/Code/miniRobotRC/fahrsteuerung_old.ino
+++ b/Code/miniRobotRC/fahrsteuerung_old.ino
@@ -1,9 +1,13 @@
 void manualDigitalDrive() {
   bool goOn = false;
+  String temp_str = "T: " + String(temperature) + " Grad C";
+  lcdLines[5] = temp_str;
  // while(!tasten.getButtonCycle(buttonL1)) {
     clearCommands();
     if(!tasten.getAnyPressed()) {
       lcdLines[0] = "Warte...";
+      
+ 
     }
     if(tasten.checkButton(buttonB) || tasten.checkButton(buttonUp)) {
             pwmA = -215;
@@ -40,6 +44,7 @@ void manualDigitalDrive() {
         commands[7] = highByte(driveTimeout);
         commands[8] = lowByte(driveTimeout);
         commands[9] = goDrive;
+        
         radio.write(&commands, sizeof(commands));
         goOn = false;
       }
diff --git a/Code/miniRobotRC/miniRobotRC.ino b/Code/miniRobotRC/miniRobotRC.ino
index 038a595..eb73d78 100644
--- a/Code/miniRobotRC/miniRobotRC.ino
+++ b/Code/miniRobotRC/miniRobotRC.ino
@@ -40,7 +40,7 @@ bool driveOn = false;
 uint16_t driveTimeout = 0;
 
 int16_t distance;
-int16_t temperature;
+int16_t temperature = 0;
 
 //Funk
 #include <SPI.h>

From ebed7f2188c5d138653ec38b55837da9c5004966 Mon Sep 17 00:00:00 2001
From: nickg <132455a@gmail.com>
Date: Sat, 8 Feb 2020 18:55:40 +0100
Subject: [PATCH 6/8] Temperature is now shown on the lcd! Amazing! Wow, very
 cool.

---
 Code/miniRobot/miniRobot.ino           | 19 +++++++++++++------
 Code/miniRobotRC/JoystickSteuerung.ino |  6 ------
 Code/miniRobotRC/_main.ino             |  4 +++-
 Code/miniRobotRC/fahrsteuerung_old.ino | 25 +++++++++++++++++++++++++
 Code/miniRobotRC/funkInit.ino          |  2 ++
 Code/miniRobotRC/miniRobotRC.ino       |  3 +++
 6 files changed, 46 insertions(+), 13 deletions(-)

diff --git a/Code/miniRobot/miniRobot.ino b/Code/miniRobot/miniRobot.ino
index 4f94f72..bb40118 100644
--- a/Code/miniRobot/miniRobot.ino
+++ b/Code/miniRobot/miniRobot.ino
@@ -23,6 +23,7 @@ void inline clearCommands() {
 }
 
 const byte address[6] = "00001";
+const byte address2[6] = "00002";
 //Kommandos
 #define nothing 9 //reset/nichts tun
 #define speedA 1 // set speed A + speed
@@ -60,7 +61,7 @@ bool forwardA = true;
 bool forwardB = true;
 volatile bool driveOn = false;
 
-int temperatur = 0;
+int16_t temperatur = 0;
 
 
 volatile long driveTimeout = 0;
@@ -71,6 +72,7 @@ void setup() {
 //  motorA.setPWM16(2,RESOLUTION);
 //  motorB.setPWM16(2,RESOLUTION);
   radio.begin();
+  radio.openWritingPipe(address2);
   radio.openReadingPipe(0, address);
   radio.setPALevel(RF24_PA_MAX);
   radio.startListening();
@@ -83,6 +85,7 @@ void setup() {
 }
 
 void loop() {
+  Serial.println(temperature);
   if (radio.available()) {
     radio.read(&commands, sizeof(commands));
     commandInterpretation();
@@ -92,16 +95,18 @@ void loop() {
     pwmA = 0;
     pwmB = 0;
   }
+
     drive.setPWM_A(pwmA);
     drive.setPWM_B(pwmB);
-	
+    
+
   //Temperatur- und Abstandsmessung
   
   temperature = dallas(4, 0);
   
   if(millis() - timer >= 100){
-  	measureDistance();
-  	timer = millis();  
+    measureDistance();
+    timer = millis();  
   }
   
   distance = calculateDistance();
@@ -150,8 +155,10 @@ void commandInterpretation() {
                       break;
       }
       case getTemp :  {                     
-                        
-                      radio.write(&temperature, sizeof(temperature));
+                      Serial.println("Senden!");
+                      radio.stopListening();                    
+                      radio.write(&temperature, sizeof(int16_t));
+                      radio.startListening();
                       break;
       }
       case timeToDrive : {
diff --git a/Code/miniRobotRC/JoystickSteuerung.ino b/Code/miniRobotRC/JoystickSteuerung.ino
index 6c03c41..42b7304 100644
--- a/Code/miniRobotRC/JoystickSteuerung.ino
+++ b/Code/miniRobotRC/JoystickSteuerung.ino
@@ -64,11 +64,5 @@ void joystickInit() {
         commands[7] = highByte(driveTimeout);
         commands[8] = lowByte(driveTimeout);
         commands[9] = goDrive;
-        commands[10] = getTemp;
-        commands[11] = highByte(temperature);
-        commands[12] = lowByte(temperature);
-        commands[13] = getTemp;
-        commands[14] = highByte(distance);
-        commands[15] = lowByte(distance);
         radio.write(&commands, sizeof(commands));
   }
diff --git a/Code/miniRobotRC/_main.ino b/Code/miniRobotRC/_main.ino
index 5d1d314..cf28a5f 100644
--- a/Code/miniRobotRC/_main.ino
+++ b/Code/miniRobotRC/_main.ino
@@ -20,11 +20,12 @@ void setup() {
 
 void loop() {
   //lcdMenu();
+  
   while(!tasten.getButtonCycle(buttonStart)) {
     manualDigitalDrive();
   } 
   tasten.clearButton(buttonStart);
-  while(!tasten.getButtonCycle(buttonStart)){
+ while(!tasten.getButtonCycle(buttonStart)){
     motorMapping();
   }
   tasten.clearButton(buttonStart);
@@ -32,6 +33,7 @@ void loop() {
     joystickSteuerung(); //TODO ()
   }
   tasten.clearButton(buttonStart);
+  
 }
 
 void lcdMenu() {
diff --git a/Code/miniRobotRC/fahrsteuerung_old.ino b/Code/miniRobotRC/fahrsteuerung_old.ino
index 4c764b4..500a42c 100644
--- a/Code/miniRobotRC/fahrsteuerung_old.ino
+++ b/Code/miniRobotRC/fahrsteuerung_old.ino
@@ -1,4 +1,5 @@
 void manualDigitalDrive() {
+
   bool goOn = false;
   String temp_str = "T: " + String(temperature) + " Grad C";
   lcdLines[5] = temp_str;
@@ -48,6 +49,30 @@ void manualDigitalDrive() {
         radio.write(&commands, sizeof(commands));
         goOn = false;
       }
+
+    //Temperatur <3
+    
+    if((millis() - temp_time) >= 5000){ // jede  Sekunden
+      temp_time = millis();
+      bool err = false;
+      clearCommands();
+      commands[0] = getTemp;
+      radio.write(&commands, sizeof(commands) && !err);
+      long start = micros();
+      radio.startListening();
+      while(!radio.available()){
+        //Serial.println("nix");
+        if((micros()- start) >= 1){
+        
+          err = true;
+        }
+      }
+      if(!err){
+        radio.read(&temperature, sizeof(int16_t));
+      }
+      radio.stopListening();
+    }
+    
   //  }
   //  tasten.clearAllButtons();
 }
diff --git a/Code/miniRobotRC/funkInit.ino b/Code/miniRobotRC/funkInit.ino
index 308995f..aa72370 100644
--- a/Code/miniRobotRC/funkInit.ino
+++ b/Code/miniRobotRC/funkInit.ino
@@ -1,6 +1,8 @@
 void funkInit() {
   radio.begin();
+  
   radio.openWritingPipe(address);
+  radio.openReadingPipe(0, address2);
   radio.setPALevel(RF24_PA_MAX); 
   radio.stopListening();
 }
diff --git a/Code/miniRobotRC/miniRobotRC.ino b/Code/miniRobotRC/miniRobotRC.ino
index eb73d78..322d632 100644
--- a/Code/miniRobotRC/miniRobotRC.ino
+++ b/Code/miniRobotRC/miniRobotRC.ino
@@ -42,6 +42,8 @@ uint16_t driveTimeout = 0;
 int16_t distance;
 int16_t temperature = 0;
 
+int16_t temp_time = millis();
+
 //Funk
 #include <SPI.h>
 #include <nRF24L01.h>
@@ -50,5 +52,6 @@ int16_t temperature = 0;
 RF24 radio(A2, A3); // CE, CSN
 
 const byte address[6] = "00001";
+const byte address2[6] = "00002";
 
 uint8_t commands[32];

From 32679f67e3cf19d792f48a25fd6e9583c5a87be1 Mon Sep 17 00:00:00 2001
From: nickg <132455a@gmail.com>
Date: Sat, 8 Feb 2020 21:25:12 +0100
Subject: [PATCH 7/8] Roboter should now stop if the distance is lower than
 20cm

---
 Code/miniRobot/miniRobot.ino           | 48 ++++++++++++++++----------
 Code/miniRobot/temperatureDistance.ino |  8 ++---
 Code/miniRobotRC/fahrsteuerung_old.ino |  6 ++--
 Code/miniRobotRC/miniRobotRC.ino       |  2 +-
 4 files changed, 38 insertions(+), 26 deletions(-)

diff --git a/Code/miniRobot/miniRobot.ino b/Code/miniRobot/miniRobot.ino
index bb40118..237239d 100644
--- a/Code/miniRobot/miniRobot.ino
+++ b/Code/miniRobot/miniRobot.ino
@@ -13,8 +13,8 @@ RF24 radio(A0, 3); // CE, CSN
 
 byte commands[32];       //byte 0 = command
 long timer;
-int16_t temperature;
-int distance = 0;
+int16_t temperature = 0;
+int16_t distance = 0;
 
 void inline clearCommands() {
   for(uint8_t i=0; i<32; i++) {
@@ -61,9 +61,6 @@ bool forwardA = true;
 bool forwardB = true;
 volatile bool driveOn = false;
 
-int16_t temperatur = 0;
-
-
 volatile long driveTimeout = 0;
 volatile long driveTimeDiff = 0;
 
@@ -79,13 +76,26 @@ void setup() {
   clearCommands();
   
   //Temperatur- und Abstandsmessung
+  
+  setEchoPins(16, 6); //16: A2, 5: D5
   tempDistSetup();
-  setEchoPins(16, 5); //16: A2, 5: D5
   timer = millis(); 
 }
 
 void loop() {
+  //Temperatur- und Abstandsmessung
   Serial.println(temperature);
+  Serial.println(distance);
+  temperature = dallas(4, 0);
+  
+  if((unsigned long)(millis() - timer) >= 100){
+    measureDistance();
+    timer = millis();  
+  }
+  
+  distance = calculateDistance();
+
+  
   if (radio.available()) {
     radio.read(&commands, sizeof(commands));
     commandInterpretation();
@@ -96,20 +106,21 @@ void loop() {
     pwmB = 0;
   }
 
+    
+    if(distance < 20){
+    Serial.println("Achtung!");
+    if(pwmA < 0 && pwmB < 0){
+        pwmA = 0;
+        pwmB = 0;
+      }
+    }
+
+    
     drive.setPWM_A(pwmA);
     drive.setPWM_B(pwmB);
     
 
-  //Temperatur- und Abstandsmessung
-  
-  temperature = dallas(4, 0);
-  
-  if(millis() - timer >= 100){
-    measureDistance();
-    timer = millis();  
-  }
-  
-  distance = calculateDistance();
+    
 }
 
 void commandInterpretation() {
@@ -154,8 +165,8 @@ void commandInterpretation() {
                       driveOn = false;      
                       break;
       }
-      case getTemp :  {                     
-                      Serial.println("Senden!");
+      case getTemp :  { 
+                      Serial.println("Senden!");                    
                       radio.stopListening();                    
                       radio.write(&temperature, sizeof(int16_t));
                       radio.startListening();
@@ -180,5 +191,6 @@ void commandInterpretation() {
       }
     }
   }
+  
   clearCommands();
 }
diff --git a/Code/miniRobot/temperatureDistance.ino b/Code/miniRobot/temperatureDistance.ino
index 216f1dd..74535f3 100644
--- a/Code/miniRobot/temperatureDistance.ino
+++ b/Code/miniRobot/temperatureDistance.ino
@@ -2,8 +2,8 @@
 
 #define maxDistance 400
 
-int trig = 0;
-int echo = 0;
+int trig;
+int echo;
 
 //int distance = 0;
 int distance2 = 0;
@@ -25,8 +25,8 @@ void setEchoPins(int pin1, int pin2){
   echo = pin2;
 }
 
-int calculateDistance(){
-  int result = distance2/ 58;
+int16_t calculateDistance(){
+  int16_t result = distance2/ 58;
 
   if(result > maxDistance){
     result = maxDistance;
diff --git a/Code/miniRobotRC/fahrsteuerung_old.ino b/Code/miniRobotRC/fahrsteuerung_old.ino
index 500a42c..09b72c3 100644
--- a/Code/miniRobotRC/fahrsteuerung_old.ino
+++ b/Code/miniRobotRC/fahrsteuerung_old.ino
@@ -52,17 +52,17 @@ void manualDigitalDrive() {
 
     //Temperatur <3
     
-    if((millis() - temp_time) >= 5000){ // 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);
-      long start = micros();
+      unsigned long start = micros();
       radio.startListening();
       while(!radio.available()){
         //Serial.println("nix");
-        if((micros()- start) >= 1){
+        if((unsigned long)(micros()- start) >= 1){
         
           err = true;
         }
diff --git a/Code/miniRobotRC/miniRobotRC.ino b/Code/miniRobotRC/miniRobotRC.ino
index 322d632..e465369 100644
--- a/Code/miniRobotRC/miniRobotRC.ino
+++ b/Code/miniRobotRC/miniRobotRC.ino
@@ -42,7 +42,7 @@ uint16_t driveTimeout = 0;
 int16_t distance;
 int16_t temperature = 0;
 
-int16_t temp_time = millis();
+unsigned long temp_time = millis();
 
 //Funk
 #include <SPI.h>

From 48327ec5c42c4d70afa8e9c00bbf52ab2db2ca05 Mon Sep 17 00:00:00 2001
From: nickg <132455a@gmail.com>
Date: Sat, 8 Feb 2020 23:15:34 +0100
Subject: [PATCH 8/8] Temperature measurement now worls more reliable.

---
 Code/miniRobot/miniRobot.ino           | 37 +++++++++++++++-----------
 Code/miniRobot/temperatureDistance.ino | 23 ++++++++--------
 Code/miniRobotRC/fahrsteuerung_old.ino | 15 +++++++----
 Code/miniRobotRC/funkInit.ino          |  2 +-
 Code/miniRobotRC/miniRobotRC.ino       |  4 +--
 5 files changed, 47 insertions(+), 34 deletions(-)

diff --git a/Code/miniRobot/miniRobot.ino b/Code/miniRobot/miniRobot.ino
index 237239d..452f374 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
-long timer;
+unsigned long timer;
 int16_t temperature = 0;
-int16_t distance = 0;
+uint16_t distance = 50;
 
 void inline clearCommands() {
   for(uint8_t i=0; i<32; i++) {
@@ -70,30 +70,36 @@ void setup() {
 //  motorB.setPWM16(2,RESOLUTION);
   radio.begin();
   radio.openWritingPipe(address2);
-  radio.openReadingPipe(0, address);
+  radio.openReadingPipe(1, address);
   radio.setPALevel(RF24_PA_MAX);
   radio.startListening();
   clearCommands();
   
   //Temperatur- und Abstandsmessung
   
-  setEchoPins(16, 6); //16: A2, 5: D5
+  setEchoPins(16, 6); //16: A2, 6: D6
   tempDistSetup();
   timer = millis(); 
 }
 
 void loop() {
   //Temperatur- und Abstandsmessung
-  Serial.println(temperature);
-  Serial.println(distance);
-  temperature = dallas(4, 0);
+  //Serial.println(temperature);
+  //Serial.println(distance);
   
-  if((unsigned long)(millis() - timer) >= 100){
+
+  unsigned long currentMillis = millis();
+  
+  if((unsigned long)(currentMillis - timer) >= 100){
+    temperature = dallas(4, 0); 
     measureDistance();
-    timer = millis();  
+    distance = calculateDistance(); 
+    Serial.println(distance);
+    timer = currentMillis;
+    
   }
   
-  distance = calculateDistance();
+  
 
   
   if (radio.available()) {
@@ -108,13 +114,13 @@ void loop() {
 
     
     if(distance < 20){
-    Serial.println("Achtung!");
+    //Serial.println("Achtung!");
     if(pwmA < 0 && pwmB < 0){
         pwmA = 0;
         pwmB = 0;
       }
     }
-
+    
     
     drive.setPWM_A(pwmA);
     drive.setPWM_B(pwmB);
@@ -166,9 +172,10 @@ void commandInterpretation() {
                       break;
       }
       case getTemp :  { 
-                      Serial.println("Senden!");                    
-                      radio.stopListening();                    
-                      radio.write(&temperature, sizeof(int16_t));
+                      //Serial.println("Senden!");                    
+                      radio.stopListening();     
+                      int16_t sendData = temperature;               
+                      radio.write(&sendData, sizeof(int16_t));
                       radio.startListening();
                       break;
       }
diff --git a/Code/miniRobot/temperatureDistance.ino b/Code/miniRobot/temperatureDistance.ino
index 74535f3..a3e977c 100644
--- a/Code/miniRobot/temperatureDistance.ino
+++ b/Code/miniRobot/temperatureDistance.ino
@@ -5,14 +5,15 @@
 int trig;
 int echo;
 
-//int distance = 0;
-int distance2 = 0;
+uint16_t distance3 = 0;
+uint16_t distance2 = 0;
 
 //ISR for PCINT20
 ISR(PCINT2_vect) {
-  distance = pulseIn(echo, HIGH);
-  if(distance > 0){
-    distance2 = distance;
+  distance3 = pulseIn(echo, HIGH);
+  
+  if(distance3 > 0){
+    distance2 = distance3;
   }
   delayMicroseconds(10);
   
@@ -26,12 +27,11 @@ void setEchoPins(int pin1, int pin2){
 }
 
 int16_t calculateDistance(){
-  int16_t result = distance2/ 58;
-
-  if(result > maxDistance){
-    result = maxDistance;
+  int16_t result2 = distance2/ 58;
+  if(result2 > maxDistance){
+    result2 = maxDistance;
   }
-  return result;
+  return result2;
 }
 
 void measureDistance(){
@@ -89,6 +89,7 @@ void tempDistSetup(){
    // Reset the trigger pin and wait a half a second
    digitalWrite(trig, LOW);
    delayMicroseconds(500);
+   Serial.println(echo);
 
    sei();
  
@@ -102,7 +103,7 @@ void runMeasurements(){
   } 
   
   Serial.print("Temperatur: ");
-  Serial.println(dallas(2, 0));
+  Serial.println(dallas(4, 0));
   
   Serial.print("Distanz: ");
   Serial.print(calculateDistance());
diff --git a/Code/miniRobotRC/fahrsteuerung_old.ino b/Code/miniRobotRC/fahrsteuerung_old.ino
index 09b72c3..1370be8 100644
--- a/Code/miniRobotRC/fahrsteuerung_old.ino
+++ b/Code/miniRobotRC/fahrsteuerung_old.ino
@@ -51,26 +51,31 @@ void manualDigitalDrive() {
       }
 
     //Temperatur <3
-    
-    if((unsigned long)(millis() - temp_time) >= 1000){ // jede  Sekunden
+    unsigned long currentMillis = millis();
+    if((unsigned long)(currentMillis - temp_time) >= 1000){ // jede  Sekunden
       temp_time = millis();
       bool err = false;
       clearCommands();
+      
       commands[0] = getTemp;
       radio.write(&commands, sizeof(commands) && !err);
       unsigned long start = micros();
       radio.startListening();
       while(!radio.available()){
         //Serial.println("nix");
-        if((unsigned long)(micros()- start) >= 1){
-        
+        unsigned long currentMicros = micros();
+        if((unsigned long)(currentMicros - start) >= 1){
+          
           err = true;
         }
       }
       if(!err){
-        radio.read(&temperature, sizeof(int16_t));
+        int16_t readData;
+        radio.read(&readData, sizeof(int16_t));
+        temperature = readData;
       }
       radio.stopListening();
+      clearCommands();
     }
     
   //  }
diff --git a/Code/miniRobotRC/funkInit.ino b/Code/miniRobotRC/funkInit.ino
index aa72370..fa40d29 100644
--- a/Code/miniRobotRC/funkInit.ino
+++ b/Code/miniRobotRC/funkInit.ino
@@ -2,7 +2,7 @@ void funkInit() {
   radio.begin();
   
   radio.openWritingPipe(address);
-  radio.openReadingPipe(0, address2);
+  radio.openReadingPipe(1, address2);
   radio.setPALevel(RF24_PA_MAX); 
   radio.stopListening();
 }
diff --git a/Code/miniRobotRC/miniRobotRC.ino b/Code/miniRobotRC/miniRobotRC.ino
index e465369..f93a12c 100644
--- a/Code/miniRobotRC/miniRobotRC.ino
+++ b/Code/miniRobotRC/miniRobotRC.ino
@@ -39,8 +39,8 @@ bool forwardB = true;
 bool driveOn = false;
 uint16_t driveTimeout = 0;
 
-int16_t distance;
-int16_t temperature = 0;
+uint8_t distance;
+uint8_t temperature = 0;
 
 unsigned long temp_time = millis();