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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42 lines
1.1 KiB
42 lines
1.1 KiB
#include <Steuerung.h>
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//Informationen Joystick
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Joystick *joystick;
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const uint16_t xAxisPin = 5;
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const uint16_t yAxisPin = 4;
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const int16_t lowestJoystickValue = 0;
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const int16_t highestJoystickValue = 511;
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const int16_t spaceing = 50;
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//Informationen linker Motor
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Motor *left;
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const int16_t lowestPWMValueLeftMotor = -255;
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const int16_t highestPWMValueLeftMotor = 255;
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//Informationen rechter Motor
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Motor *right;
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const int16_t lowestPWMValueRightMotor = -255;
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const int16_t highestPWMValueRightMotor = 255;
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Steuerung *steuerung;
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void setup() {
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joystick = new Joystick(xAxisPin, yAxisPin, lowestJoystickValue, highestJoystickValue, spaceing);
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left = new Motor(lowestPWMValueLeftMotor, highestPWMValueLeftMotor);
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right = new Motor(lowestPWMValueRightMotor, highestPWMValueRightMotor);
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steuerung = new Steuerung(joystick, left, right);
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Serial.begin(9600);
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}
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void loop() {
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steuerung -> updateValues();
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//DEBUG
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Serial.print("Left motor PWMValue: ");
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Serial.println(left -> PWMValue);
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Serial.print("Right motor PWMValue: ");
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Serial.println(right -> PWMValue);
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//SendValues
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delay(500);
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}
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