Code bereinigt

Code bereinigt

Code/miniRobot/miniRobot.ino

@@ -37,21 +37,9 @@ const byte address2[6] = "00002";
 #define getDistance 10 //Abstand zu Objekten
 
 //Motortreiber
-//#include <MX1508.h>
 #include <L298N.h>
 
-#define BEEP 14
-/*
-#define PWM_PINA 10
-#define PINA 8
-#define PWM_PINB 9
-#define PINB 7
-#define NUMPWM 1
-
-#define RESOLUTION 255 */
-
-//MX1508 motorA(PWM_PINA,PINA, FAST_DECAY, NUMPWM);
-//MX1508 motorB(PWM_PINB,PINB, FAST_DECAY, NUMPWM);
+#define BEEP 14     //Motoren drehen bei diesem PWM Wert nicht, aber fiepen
 L298N drive;
 
 
@@ -61,8 +49,8 @@ bool forwardA = true;
 bool forwardB = true;
 volatile bool driveOn = false;
 
-volatile long driveTimeout = 0;
-volatile long driveTimeDiff = 0;
+volatile uint32_t driveTimeout = 0;
+volatile uint32_t driveTimeDiff = 0;
 
 volatile bool startNewMeasurement = true;
 
@@ -106,7 +94,7 @@ void loop() {
        // Serial.println("berechnen");
         distance = calculateDistance();
       }
-  
+//wurden Kommandos empfangen?  
   if (radio.available()) {
     radio.read(&commands, sizeof(commands));
     commandInterpretation();
@@ -182,7 +170,7 @@ void commandInterpretation() {
                         uint16_t driveTime = 0;
                         driveTime = (0xFF00 & (commands[i+1] << 8));
                         driveTime |= (0x00FF & commands[i+2]); 
-                        driveTimeout = (long)driveTime;
+                        driveTimeout = (uint32_t)driveTime;
                         driveTimeDiff = millis();
                         //Serial.println(driveTimeout);
                         break;

Code/miniRobotRC/JoystickSteuerung.ino

@@ -44,21 +44,6 @@ void joystickInit() {
 
   void showValuesOnLCD(){
     //TODO BUILD STRING
-    //lcd.clear();
-    /*lcd.gotoXY(0,0);
-    lcd.print("              ");
-    lcd.gotoXY(0,0);
-    lcd.print("WithLib");
-    lcd.gotoXY(0,1);
-    lcd.print("              ");
-    lcd.gotoXY(0,1);
-    lcd.print("LeftPWM: ");
-    lcd.print(left -> PWMValue);
-    lcd.gotoXY(0,2);
-    lcd.print("              ");
-    lcd.gotoXY(0,2);
-    lcd.print("RightPWM: ");
-    lcd.print(right -> PWMValue);*/
     lcdLines[0] = "Links: " + String(left -> PWMValue, DEC);
     lcdLines[1] = "Rechts: " + String(right -> PWMValue, DEC);
     }

Code/miniRobotRC/_main.ino

@@ -19,8 +19,6 @@ void setup() {
 }
 
 void loop() {
-  //lcdMenu();
-  
   while(!tasten.getButtonCycle(buttonStart)) {
     manualDigitalDrive();
     updateTemp();

Code/miniRobotRC/interruptRoutinen.ino

@@ -1,15 +1,5 @@
 //HIER KOMMT ALLES REIN WAS 1 MAL PRO ms AUFGERUFEN WERDEN SOLL!!!
 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;
-  } */
 }
 //ALLE anderen ISR kommen HIER drunter!!!

Code/miniRobotRC/joystick.ino

@@ -20,14 +20,8 @@ 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: ");
     lcdLines[0] = "Links: " + String(pwmB, DEC);
- //   lcd.println(pwmB);
- //   lcd.gotoXY(0,2);
- //   lcd.println("Rechts: ");
     lcdLines[1] = "Rechts: " + String(pwmA, DEC);
- //  lcd.println(pwmA);
   }
 
   senden();

Code/miniRobotRC/remoteControlInit.ino

@@ -7,7 +7,7 @@ void remoteControlInit() {
 //Pegelwandler ein
   pinMode(_OE_LEVEL, OUTPUT);
   digitalWrite(_OE_LEVEL, HIGH);
-//Hintergrundbeleuchtung an, halbe Helligkeit  
+//Hintergrundbeleuchtung an  
   pinMode(BL, OUTPUT);
   BRIGHTNESS = 30;
 //LCD init,   invert, vop, tempcoef, bias  

Code/miniRobotRC/temp.ino

@@ -11,11 +11,6 @@
         radio.startListening();
         while(!radio.available()){
           //Serial.println("nix");
-        /*  unsigned long currentMicros = micros();
-          if((unsigned long)(currentMicros - start) >= 1){
-            
-            err = true;
-          } */
           if((millis() - temp_time) >= 10) break;
         }
         if(/* !err */ true){