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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78 lines
2.1 KiB
78 lines
2.1 KiB
void manualDigitalDrive() {
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bool goOn = false;
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String temp_str = "T: " + String(temperature) + " Grad C";
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lcdLines[5] = temp_str;
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// while(!tasten.getButtonCycle(buttonL1)) {
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clearCommands();
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if(!tasten.getAnyPressed()) {
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lcdLines[0] = "Warte...";
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}
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if(tasten.checkButton(buttonB) || tasten.checkButton(buttonUp)) {
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pwmA = -215;
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pwmB = -255;
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lcdLines[0] = "geradeaus fahren";
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goOn =true;
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}
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if(tasten.checkButton(buttonC) || tasten.checkButton(buttonDown)) {
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pwmA = 100;
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pwmB = 255;
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lcdLines[0] = "rueckwaerts fahren";
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goOn =true;
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}
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if(tasten.checkButton(buttonRight)) {
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pwmA = -100; //rechter Motor
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pwmB = 100;
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lcdLines[0] = "rechts lenken";
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goOn =true;
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}
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if(tasten.checkButton(buttonLeft)) {
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pwmB = -100;
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pwmA = 100;
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lcdLines[0] = "links lenken";
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goOn =true;
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}
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if(goOn) {
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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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radio.write(&commands, sizeof(commands));
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goOn = false;
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}
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//Temperatur <3
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if((unsigned long)(millis() - temp_time) >= 1000){ // jede Sekunden
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temp_time = millis();
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bool err = false;
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clearCommands();
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commands[0] = getTemp;
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radio.write(&commands, sizeof(commands) && !err);
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unsigned long start = micros();
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radio.startListening();
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while(!radio.available()){
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//Serial.println("nix");
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if((unsigned long)(micros()- start) >= 1){
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err = true;
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}
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}
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if(!err){
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radio.read(&temperature, sizeof(int16_t));
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}
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radio.stopListening();
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}
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// }
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// tasten.clearAllButtons();
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}
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