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 <Steuerung.h>
//Informationen Joystick
Joystick *joystick;
const uint16_t xAxisPin = 5;
const uint16_t yAxisPin = 6;
const int16_t lowestJoystickValue = 0;
const int16_t highestJoystickValue = 511;
const int16_t spaceing = 60;
//Informationen linker Motor
Motor *left;
const int16_t lowestPWMValueLeftMotor = -255;
const int16_t highestPWMValueLeftMotor = 255;
//Informationen rechter Motor
Motor *right;
const int16_t lowestPWMValueRightMotor = -255;
const int16_t highestPWMValueRightMotor = 255;
Steuerung *steuerung;
void joystickInit() {
joystick = new Joystick(xAxisPin, yAxisPin, lowestJoystickValue, highestJoystickValue, spaceing);
left = new Motor(lowestPWMValueLeftMotor, highestPWMValueLeftMotor);
right = new Motor(lowestPWMValueRightMotor, highestPWMValueRightMotor);
steuerung = new Steuerung(joystick, left, right);
//Serial.begin(9600);
}
void joystickSteuerung() {
//Only updates if joystick is moved
steuerung -> updateValues();
//Show Values On LCD
showValuesOnLCD();
//SendValues
send();
}
void showValuesOnLCD(){
//TODO BUILD STRING
//lcd.clear();
/*lcd.gotoXY(0,0);
lcd.print(" ");
lcd.gotoXY(0,0);
lcd.print("WithLib");
lcd.gotoXY(0,1);
lcd.print(" ");
lcd.gotoXY(0,1);
lcd.print("LeftPWM: ");
lcd.print(left -> PWMValue);
lcd.gotoXY(0,2);
lcd.print(" ");
lcd.gotoXY(0,2);
lcd.print("RightPWM: ");
lcd.print(right -> PWMValue);*/
lcdLines[0] = "Links: " + String(left -> PWMValue, DEC);
lcdLines[1] = "Rechts: " + String(right -> PWMValue, DEC);
}
void send(){
commands[0] = speedA;
commands[1] = highByte(left -> PWMValue);
commands[2] = lowByte(left -> PWMValue);
commands[3] = speedB;
commands[4] = highByte(right -> PWMValue);
commands[5] = lowByte(right -> PWMValue);
commands[6] = timeToDrive;
commands[7] = highByte(driveTimeout);
commands[8] = lowByte(driveTimeout);
commands[9] = goDrive;
radio.write(&commands, sizeof(commands));
}