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
2.0 KiB
115 lines
2.0 KiB
#include <OneWire.h>
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#define trig PD3
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#define echo PD4
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long distance = 0;
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int count = 0;
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// ISR For Timer
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ISR(TIMER0_COMPA_vect){
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//set count depending on tcnt0 and the prescaler
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if(count == 96){
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count = 0;
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TCNT0 = 0;
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digitalWrite(trig, HIGH);
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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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digitalWrite(trig, LOW);
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PCICR |= 0b00000100;
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PCMSK2 |= 0b00010000;
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} else {
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count++;
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}
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}
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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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PCICR &= ~0b00000100;
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PCMSK2 &= ~0b00010000;
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delayMicroseconds(10);
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}
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long calculateDistance(){
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return (long) (((float) distance/ 58.0));
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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 initS(){
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TCNT0 = 0; // reset timer
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TCCR0A |= 0b00000010;
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TCCR0B |= 0b0000011; //set prescaler to 64 becasue 256 does not work
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OCR0A = 255;
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TIMSK0 |= 0b00000010;
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sei();
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}
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void setup(){
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Serial.begin(9600);
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dallas(2, 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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initS();
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}
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void loop(){
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long run_time = micros();
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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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