Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen.
https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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124 lines
2.7 KiB
124 lines
2.7 KiB
#define xPin A5
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#define yPin A6
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#define leftMax 255//215
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#define leftMin -255//-100
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#define rightMax 255
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#define rightMin -255
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volatile int16_t xValue = 0;
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volatile int16_t yValue = 0;
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volatile int16_t leftPWM = 0;
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volatile int16_t rightPWM = 0;
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const int16_t deadZone = 10;
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/*
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void setup() {
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Serial.begin(115200);
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}
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void loop() {
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koordinaten(analogRead(xPin), analogRead(yPin));
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motorPWM();
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Serial.print("X: ");
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Serial.println(xValue);
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Serial.print("Y: ");
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Serial.println(yValue);
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Serial.print("links: ");
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Serial.println(leftPWM);
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Serial.print("rechts: ");
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Serial.println(rightPWM);
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delay(200);
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}
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*/
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void motorMapping() {
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static long temp = millis();
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koordinaten(analogRead(xPin), analogRead(yPin));
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motorPWM();
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pwmB = map(leftPWM, -255,255,leftMin,leftMax);
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pwmA = map(rightPWM, -255,255,rightMin,rightMax);
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if((millis() - temp) > 100) {
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lcd.clear();
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lcd.println("Links: ");
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lcd.println(pwmB);
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lcd.gotoXY(0,2);
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lcd.println("Rechts: ");
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lcd.println(pwmA);
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}
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senden();
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}
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void senden() {
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commands[0] = speedA;
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commands[1] = highByte(pwmA);
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commands[2] = lowByte(pwmA);
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commands[3] = speedB;
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commands[4] = highByte(pwmB);
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commands[5] = lowByte(pwmB);
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commands[6] = timeToDrive;
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commands[7] = highByte(driveTimeout);
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commands[8] = lowByte(driveTimeout);
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commands[9] = goDrive;
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commands[10] = getDistance;
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radio.write(&commands, sizeof(commands));
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}
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void koordinaten(uint16_t x, uint16_t y) {
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//9-bit reichen, der ADC schafft bestenfalls 8-bit praezision
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x = x >> 1;
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y = y >> 1;
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xValue = map(x, 0, 511, -255, 255);
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yValue = map(y, 0, 511, 255, -255);
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}
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void motorPWM() {
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if((abs(xValue) > deadZone) || (abs(yValue) > deadZone)) {
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if(yValue >= 0) {
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if(xValue >= 0) {
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//+y , +x
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leftPWM = yValue;
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rightPWM = yValue - xValue;
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if(xValue >= yValue) {
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leftPWM = 255;
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rightPWM = -255;
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}
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} else {
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//+y , -x
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leftPWM = yValue;
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rightPWM = yValue + xValue;
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if(abs(xValue) >= yValue) {
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leftPWM = -255;
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rightPWM = 255;
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}
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}
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} else {
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if(xValue >= 0) {
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//-y , +x
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leftPWM = yValue;
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rightPWM = yValue + xValue;
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if(xValue >= abs(yValue)) {
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leftPWM = 255;
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rightPWM = -255;
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}
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} else {
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//-y , -x
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leftPWM = yValue;
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rightPWM = yValue - xValue;
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if(abs(xValue) >= abs(yValue)) {
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leftPWM = -255;
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rightPWM = 255;
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}
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}
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}
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if(abs(xValue) < deadZone) {
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leftPWM = yValue;
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rightPWM = yValue;
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}
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} else {
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leftPWM = 0;
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rightPWM = 0;
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}
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}
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