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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115 lines
1.9 KiB
115 lines
1.9 KiB
#include <OneWire.h>
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#define maxDistance 400
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int trig = 0;
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int echo = 0;
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//int distance = 0;
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int distance2 = 0;
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//ISR for PCINT20
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ISR(PCINT2_vect) {
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distance = pulseIn(echo, HIGH);
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if(distance > 0){
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distance2 = distance;
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}
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delayMicroseconds(10);
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PCICR &= ~0b00000100;
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PCMSK2 &= ~0b00010000;
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}
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void setEchoPins(int pin1, int pin2){
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trig = pin1;
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echo = pin2;
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}
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int calculateDistance(){
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int result = distance2/ 58;
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if(result > maxDistance){
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result = maxDistance;
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}
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return result;
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}
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void measureDistance(){
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PORTD |= (1<<trig);
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// ... wait for 10 µs ...
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delayMicroseconds(10);
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// ... put the trigger down ...
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PORTD &= ~(1<<trig);
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PCICR |= 0b00000100;
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PCMSK2 |= 0b00010000;
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}
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int16_t dallas(int x, byte start){
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OneWire ds(x);
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byte i;
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byte data[2];
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int16_t result;
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do{
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ds.reset();
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ds.write(0xCC); //skip Command
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ds.write(0xBE); //Read 1st 2 bytes of Scratchpad
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result = 0;
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for(i = 0; i < 2; i++){
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data[i] = ds.read();
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result += data[i];
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}
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result = result/2;
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ds.reset();
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ds.write(0xCC);
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ds.write(0x44, 1); //start conversion
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if(start){
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delay(1000);
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}
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} while(start--);
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return result;
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}
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void tempDistSetup(){
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dallas(4, 1);
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// Initializing Trigger Output and Echo Input
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pinMode(trig, OUTPUT);
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pinMode(echo, INPUT);
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// Reset the trigger pin and wait a half a second
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digitalWrite(trig, LOW);
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delayMicroseconds(500);
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sei();
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}
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void runMeasurements(){
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long run_time = micros();
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if(millis() - timer >= 100){
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measureDistance();
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timer = millis();
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}
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Serial.print("Temperatur: ");
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Serial.println(dallas(2, 0));
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Serial.print("Distanz: ");
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Serial.print(calculateDistance());
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Serial.println("cm");
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run_time = micros() - run_time;
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Serial.print("Zeit für Durchlauf: ");
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Serial.println(run_time);
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Serial.println();
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delay(1000);
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}
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