Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen. https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.

45 lines
1.2 KiB

#include <Steuerung.h>
//Informationen Joystick
Joystick *joystick;
const uint16_t xAxisPin = 5;
const uint16_t yAxisPin = 4;
const int16_t lowestJoystickValue = 0;
const int16_t highestJoystickValue = 511;
const int16_t spaceing = 50;
//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();
//DEBUG
Serial.print("Left motor PWMValue: ");
Serial.println(left -> PWMValue);
Serial.print("Right motor PWMValue: ");
Serial.println(right -> PWMValue);
//SendValues
send();
}