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