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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/*
Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
version 2 as published by the Free Software Foundation.
03/17/2013 : Charles-Henri Hallard (http://hallard.me)
Modified to use with Arduipi board http://hallard.me/arduipi
Changed to use modified bcm2835 and RF24 library
*/
/**
* Channel scanner
*
* Example to detect interference on the various channels available.
* This is a good diagnostic tool to check whether you're picking a
* good channel for your application.
*
* Inspired by cpixip.
* See http://arduino.cc/forum/index.php/topic,54795.0.html
*/
#include <cstdlib>
#include <iostream>
#include <RF24/RF24.h>
using namespace std;
//
// Hardware configuration
//
// CE Pin, CSN Pin, SPI Speed
// Setup for GPIO 22 CE and GPIO 25 CSN with SPI Speed @ 1Mhz
//RF24 radio(RPI_V2_GPIO_P1_22, RPI_V2_GPIO_P1_18, BCM2835_SPI_SPEED_1MHZ);
// Setup for GPIO 22 CE and CE0 CSN with SPI Speed @ 4Mhz
//RF24 radio(RPI_V2_GPIO_P1_15, BCM2835_SPI_CS0, BCM2835_SPI_SPEED_4MHZ);
// Setup for GPIO 22 CE and CE1 CSN with SPI Speed @ 8Mhz
//RF24 radio(RPI_V2_GPIO_P1_15, RPI_V2_GPIO_P1_24, BCM2835_SPI_SPEED_8MHZ);
// Generic setup
RF24 radio(22, 0);
//
// Channel info
//
const uint8_t num_channels = 126;
uint8_t values[num_channels];
const int num_reps = 100;
int reset_array=0;
int main(int argc, char** argv)
{
//
// Print preamble
//
//Serial.begin(115200);
//printf_begin();
printf("RF24/examples/scanner/\n");
//
// Setup and configure rf radio
//
radio.begin();
radio.setAutoAck(false);
// Get into standby mode
radio.startListening();
radio.stopListening();
radio.printDetails();
// Print out header, high then low digit
int i = 0;
while ( i < num_channels )
{
printf("%x",i>>4);
++i;
}
printf("\n");
i = 0;
while ( i < num_channels )
{
printf("%x",i&0xf);
++i;
}
printf("\n");
// forever loop
while(1)
{
// Clear measurement values
memset(values,0,sizeof(values));
// Scan all channels num_reps times
int rep_counter = num_reps;
while(rep_counter--)
{
int i = num_channels;
while (i--)
{
// Select this channel
radio.setChannel(i);
// Listen for a little
radio.startListening();
delayMicroseconds(128);
radio.stopListening();
// Did we get a carrier?
if ( radio.testCarrier() ) ++values[i];
}
}
// Print out channel measurements, clamped to a single hex digit
i = 0;
while ( i < num_channels )
{
printf("%x",min(0xf,(values[i]&0xf)));
++i;
}
printf("\n");
}
return 0;
}
// vim:ai:cin:sts=2 sw=2 ft=cpp