Distanzmessung den Anforderungen entsprechend designed

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;
+    
+}

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();

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();
 }

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;
+          } */
+          if((millis() - temp_time) >= 10) break;
         }
-/*
-          int16_t readData;
-          radio.read(&readData, sizeof(int16_t));
-          temperature = readData; */
-        }
-        if(!err){
+        if(/* !err */ true){
           int16_t readData;
           radio.read(&readData, sizeof(int16_t));
           temperature = readData;