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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54 lines
1.4 KiB
54 lines
1.4 KiB
#include <PCD8544_SPI.h>
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#include <shiftRegButtonLib.h>
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#include <myInterrupts.h>
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#define CLR_BIT(p,n) ((p) &= ~((1) << (n)))
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#define SET_BIT(p,n) ((p) |= (1 << (n)))
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//Pinzuordnungen
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#define BL 10 //backlight, Hintergrundbeleuchtung LCD
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#define SD_CARD_CS 2 //D2 ist Chip Enable
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#define BAT_VOLTAGE A7 //Akkuspannung an A7
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#define _OE_LEVEL 7 //D7 fuer Output Enable Pegelwandler
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#define BRIGHTNESS OCR1B
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//globale Objekte anlegen
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volatile PCD8544_SPI_FB lcd;
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volatile myInterrupts Timer2;
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volatile myInterrupts pwmBL;
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volatile shiftRegButton tasten;
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//LCD
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uint8_t renderTime = 0;
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#define renderTimeout 100 //es wird alle 100ms gerendert
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String lcdLines[6]; //Strings welche alle 100ms ausgegeben werden
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//Kommandos
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#define nothing 9 //reset/nichts tun
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#define speedA 1 // set speed A + speed
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#define dirA 2 // set direction A + dir
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#define speedB 3 // set speed B + speed
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#define dirB 4 // set direction B + dir
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#define goDrive 5 //go + time to go
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#define stopDrive 6 //stop
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#define getTemp 7 //get temperature
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#define timeToDrive 8 //Zeitdauer des fahrens
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#define getDistance 10 //Abstand zu Objekten
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int16_t pwmA = 0;
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int16_t pwmB = 0;
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bool forwardA = true;
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bool forwardB = true;
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bool driveOn = false;
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uint16_t driveTimeout = 0;
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int16_t distance;
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int16_t temperature;
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//Funk
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#include <SPI.h>
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#include <nRF24L01.h>
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#include <RF24.h>
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RF24 radio(A2, A3); // CE, CSN
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const byte address[6] = "00001";
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uint8_t commands[32];
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