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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#include <OneWire.h>
#define maxDistance 400
int trig;
int echo;
uint16_t distance3 = 0;
uint16_t distance2 = 0;
//ISR for PCINT20
ISR(PCINT2_vect) {
distance3 = pulseIn(echo, HIGH);
if(distance3 > 0){
distance2 = distance3;
}
delayMicroseconds(10);
PCICR &= ~0b00000100;
PCMSK2 &= ~0b00010000;
}
void setEchoPins(int pin1, int pin2){
trig = pin1;
echo = pin2;
}
int16_t calculateDistance(){
int16_t result2 = distance2/ 58;
if(result2 > maxDistance){
result2 = maxDistance;
}
return result2;
}
void measureDistance(){
digitalWrite(trig, HIGH);
// ... wait for 10 µs ...
delayMicroseconds(10);
// ... put the trigger down ...
digitalWrite(trig, LOW);
PCICR |= 0b00000100;
PCMSK2 |= 0b00010000;
}
int16_t dallas(int x, byte start){
OneWire ds(x);
byte i;
byte data[2];
int16_t result;
do{
ds.reset();
ds.write(0xCC); //skip Command
ds.write(0xBE); //Read 1st 2 bytes of Scratchpad
result = 0;
for(i = 0; i < 2; i++){
data[i] = ds.read();
}
result = (data[1]<<8)|data[0];
result = result/16; //DS1820 2 DS18B20 16
ds.reset();
ds.write(0xCC);
ds.write(0x44, 1); //start conversion
if(start){
delay(1000);
}
} while(start--);
return result;
}
void tempDistSetup(){
dallas(4, 1);
// 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);
Serial.println(echo);
sei();
}
void runMeasurements(){
long run_time = micros();
if(millis() - timer >= 100){
measureDistance();
timer = millis();
}
Serial.print("Temperatur: ");
Serial.println(dallas(4, 0));
Serial.print("Distanz: ");
Serial.print(calculateDistance());
Serial.println("cm");
run_time = micros() - run_time;
Serial.print("Zeit für Durchlauf: ");
Serial.println(run_time);
Serial.println();
delay(1000);
}