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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48 lines
1016 B
48 lines
1016 B
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#include "compatibility.h"
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static struct timeval start, end;
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//static long mtime, seconds, useconds;
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/**********************************************************************/
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/**
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* This function is added in order to simulate arduino delay() function
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* @param milisec
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*/
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void __msleep(int milisec)
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{
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struct timespec req = {0};
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req.tv_sec = 0;
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req.tv_nsec = milisec * 1000000L;
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nanosleep(&req, (struct timespec *)NULL);
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//usleep(milisec*1000);
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}
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void __usleep(int milisec)
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{
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struct timespec req = {0};
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req.tv_sec = 0;
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req.tv_nsec = milisec * 1000L;
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nanosleep(&req, (struct timespec *)NULL);
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//usleep(milisec);
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}
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/**
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* This function is added in order to simulate arduino millis() function
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*/
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void __start_timer()
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{
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gettimeofday(&start, NULL);
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}
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long __millis()
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{
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static long mtime, seconds, useconds;
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gettimeofday(&end, NULL);
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seconds = end.tv_sec - start.tv_sec;
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useconds = end.tv_usec - start.tv_usec;
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mtime = ((seconds) * 1000 + useconds/1000.0) + 0.5;
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return mtime;
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}
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