erste Abspeicherung

Distanzsensoren_auswerten/Distanzsensoren_auswerten.ino

@@ -0,0 +1,113 @@
+#include <Wire.h>
+#include <PPMReader.h>
+#include <drivers/PwmOut.h>
+
+// Initialize a PPMReader on digital pin 3 with 6 expected channels.
+byte interruptPin = 11;
+byte channelAmount = 8;
+PPMReader ppm(interruptPin, channelAmount);
+
+#define PIN_TRIGGER 12
+#define PIN_ECHO    13
+
+int channel_ID_steering = 1;
+int channel_ID_speed = 3;
+
+const int SENSOR_MAX_RANGE = 300; // in cm
+unsigned long duration;
+unsigned int distance;
+
+class Motor{
+  int _pina;
+  int _pinb;
+  bool _first = true;
+  float _prev = 0;
+  mbed::PwmOut* _pwm = NULL;
+public:
+  void Setup(int a, int b)
+  {
+    _pina = a;
+    _pinb = b;
+    pinMode(_pina, OUTPUT);
+    pinMode(_pinb, OUTPUT);
+  }
+  void SetPower(float pow)
+  {
+    if(_first){
+      _first = false;
+      _prev = pow;
+    }
+      if(_pwm != NULL)
+      {
+        delete _pwm;
+        _pwm = NULL;
+      }
+    if(pow < 0)
+    {
+      if(_pwm == NULL)
+      {
+        _pwm = new mbed::PwmOut(digitalPinToPinName(_pinb));
+        _pwm->period_ms(2); //500Hz
+      }
+      digitalWrite(_pina,0);
+      
+      _pwm->write(-pow);      
+    }    
+    else
+    {
+      if(_pwm == NULL)
+      {
+        _pwm = new mbed::PwmOut(digitalPinToPinName(_pina));
+        _pwm->period_ms(2); //500Hz
+      }
+      digitalWrite(_pinb,0);
+      
+      _pwm->write(pow);
+    }    
+  }
+}; // ; am Ende einer Klasse
+
+Motor motor_fl;
+Motor motor_fr;
+Motor motor_rl;
+Motor motor_rr;
+
+void setup() {
+  Serial.begin(9600);
+  
+  motor_fl.Setup(2, 3);
+  motor_fr.Setup(9, 8);
+  motor_rl.Setup(5, 4);
+  motor_rr.Setup(6, 7);
+  Wire.begin(); // join i2c bus (address optional for master)
+  pinMode(A4, INPUT_PULLUP);
+  pinMode(A5, INPUT_PULLUP);
+}
+ 
+void loop() {
+    int steering_value_raw = ppm.latestValidChannelValue(channel_ID_steering, 0);
+    int speed_value_raw = ppm.latestValidChannelValue(channel_ID_speed, 0);
+
+    float steering_value = (steering_value_raw == 0)? 1 : (1/500.0f) * steering_value_raw - 3; // == Bedingung, danach wenn True: wenn False 
+    float speed_value = (speed_value_raw == 0)? 1 : (1/500.0f) * speed_value_raw - 3;
+
+    if (steering_value < -1)
+      steering_value = -1;
+    else if (steering_value > 1)
+      steering_value = 1;
+
+
+    float motor_right = (-steering_value + speed_value) / 2; 
+    float motor_left = (steering_value + speed_value) / 2;
+    
+
+    delay(20);
+  
+  motor_rr.SetPower(motor_right);
+  motor_rl.SetPower(motor_left);
+  motor_fr.SetPower(motor_right);
+  motor_fl.SetPower(motor_left);
+
+  Serial.println(String(motor_left) + "\t" + String(motor_right));
+  //while(true);
+}

Motor_pt_mm.txt

@@ -0,0 +1,15 @@
+Ausgang Ladekabel entsricht hierbei Hinten
+
+Links:
+A1A ~D4 grün rl
+A1B ~D5 blau rl
+B1A ~D3 orange fl
+B1B ~D2 gelb fl
+
+Rechts:
+A1A ~D8 grün fr
+A1B ~D9 blau fr
+B1A ~D6 gelb rr
+B1B ~D7 orange rr
+
+kann nur 4 pwm

Motoren_ansteuern1/Motoren_ansteuern1.ino

@@ -0,0 +1,68 @@
+const int A1A=3;
+const int A1B=2;
+const int B1A=5;
+const int B1B=4;
+
+class Motor{
+  int _pina;
+  int _pinb;
+public:
+  void Setup(int a, int b)
+  {
+    _pina = a;
+    _pinb = b;
+    pinMode(_pina, OUTPUT);
+    pinMode(_pinb, OUTPUT);
+  }
+  void SetPower(float pow)
+  {
+    if(pow < 0)
+    {
+      analogWrite(_pina,0);
+      analogWrite(_pinb,pow * 255);      
+    }    
+    else
+    {
+      analogWrite(_pinb,0);
+      analogWrite(_pina,pow * 255);
+    }    
+  }
+}; // ; am Ende einer Klasse
+
+Motor motor1;
+Motor motor2;
+void setup() {
+  motor1.Setup(2, 3);
+  motor2.Setup(4, 5);
+}
+ 
+void loop() {
+  for(int i = 0; i < 255; i++)  // erstes: Variable anlegen, zweites: welche Bedingung, damit Schleife weiter läuft, drittes: was machen wir am Ende eines jeden Schleifendurchlaufs
+  {
+    delay(10);
+    motor1.SetPower(i / 255.0f);  // integer * float = float
+    motor2.SetPower(i / 255.0f);
+  }
+
+  for(int i = 255; i > 0; i--)  // erstes: Variable anlegen, zweites: welche Bedingung, damit Schleife weiter läuft, drittes: was machen wir am Ende eines jeden Schleifendurchlaufs
+  {
+    delay(10);
+    motor1.SetPower(i / 255.0f);  // integer * float = float
+    motor2.SetPower(i / 255.0f);
+  }
+
+  for(int i = 0; i < 255; i++)  // erstes: Variable anlegen, zweites: welche Bedingung, damit Schleife weiter läuft, drittes: was machen wir am Ende eines jeden Schleifendurchlaufs
+  {
+    delay(10);
+    motor1.SetPower(i / 255.0f);  // integer * float = float
+    motor2.SetPower(i / 255.0f);
+  }
+
+  for(int i = 255; i > 0; i--)  // erstes: Variable anlegen, zweites: welche Bedingung, damit Schleife weiter läuft, drittes: was machen wir am Ende eines jeden Schleifendurchlaufs
+  {
+    delay(10);
+    motor1.SetPower(i / 255.0f);  // integer * float = float
+    motor2.SetPower(i / 255.0f);
+  }
+  // put your main code here, to run repeatedly:digitalWrite(A1A,LOW);
+}