Erste Version

formiko.ino

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+/** 
+ * Formikoj (Ameisen) Roboter
+ * --------------------------
+ * Besteht aus 
+ * - zwei Steppermotoren
+ * - zwei Linetracking\Distanz IR Sensoren
+ * - Einem Ultraschalsensoren
+ * - 1 Statusled
+ * 
+ * @author kf
+ * @since 2017-01-16
+ **/
+
+
+//include "Communication.h"
+//Bibliothek für Ultraschalsensor
+#include <NewPing.h>
+
+// Ultraschallsensor
+#define TRIGGER_PIN   3  
+#define ECHO_PIN      4  
+#define MAX_DISTANCE  400 
+
+// Infarosensoren
+#define INFAROT_LEFT  2
+#define INFAROT_RIGHT 12
+
+//LED's
+#define INTERNAL_LED 13
+#define EXTERNAL_LED 10
+// Motoren
+#define MOTOR_LEFT_DIRECTION 6
+#define MOTOR_LEFT_PWM 5
+#define MOTOR_RIGHT_DIRECTION 8
+#define MOTOR_RIGHT_PWM 7
+
+#define MOTOR_PWM_MIN 10            // arbitrary slow speed PWM duty cycle
+#define MOTOR_PWM_MAX 200           // arbitrary fast speed PWM duty cycle
+#define MOTOR_DIRECTION_DELAY 200  // brief delay for abrupt motor changes
+
+NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of pins and maximum distance.
+
+//Dreht ein Rad des Roboters
+void turnWheel(int directionPin, int pwmPin, int directionValue=LOW, int pwmValue=MOTOR_PWM_MIN){ 
+  digitalWrite(directionPin,directionValue); // direction = forward
+  analogWrite(pwmPin, 255-pwmValue);         // PWM speed = fast
+}
+
+// Stoppt ein Roboterrad
+void stopWheel(int directionPin, int pwmPin){
+  digitalWrite(directionPin, LOW );
+  digitalWrite(pwmPin, LOW );
+}
+
+//Stopt das Roboterrad
+void stopMotors(){
+  stopWheel(MOTOR_LEFT_DIRECTION,MOTOR_LEFT_PWM);
+  stopWheel(MOTOR_RIGHT_DIRECTION,MOTOR_RIGHT_PWM);
+  
+  //Abwarten bis Roboter gestoppt wurde
+  delay(MOTOR_DIRECTION_DELAY);
+}
+
+//Fährt den Roboter nach vorne
+void driveForward(int motorSpeed=MOTOR_PWM_MIN){
+  turnWheel(MOTOR_LEFT_DIRECTION,MOTOR_LEFT_PWM,LOW,motorSpeed);
+  turnWheel(MOTOR_RIGHT_DIRECTION,MOTOR_RIGHT_PWM,LOW,motorSpeed);
+  
+}
+
+//Fährt den Roboter zurück
+void driveBackwards(int motorSpeed=MOTOR_PWM_MIN){
+  motorSpeed+=255;
+  turnWheel(MOTOR_RIGHT_DIRECTION,MOTOR_RIGHT_PWM,HIGH,motorSpeed);
+  turnWheel(MOTOR_LEFT_DIRECTION,MOTOR_LEFT_PWM,HIGH,motorSpeed);
+  
+}
+
+//Dreht den Roboter nach rechts
+void turnRight(){
+  turnWheel(MOTOR_LEFT_DIRECTION,MOTOR_LEFT_PWM);
+}
+
+//Dreht den Roboter nach links
+void turnLeft(){
+  turnWheel(MOTOR_RIGHT_DIRECTION,MOTOR_RIGHT_PWM);
+}
+
+//Gibt die Sensordaten über die serielle Schnittstelle aus
+void serialStatus(){
+  Serial.print("Ultraschalsensor: ");
+  Serial.println(sonar.ping_cm());
+  Serial.print("IR-Sensor-Links: ");
+  Serial.println(digitalRead(INFAROT_LEFT));
+  Serial.print("IR-Sensor-Links: ");
+  Serial.println(digitalRead(INFAROT_RIGHT));
+}
+
+//Fährt den Roboter zuällig durch den Raum und umgeht Hindernisse
+void randomDrive(){
+  //Prüfen ob Objekt in Fahrbahn
+  if(sonar.ping_cm()<=40 && sonar.ping_cm()){
+    if(sonar.ping_cm()<=20){
+      //Rückwärtsgang einlegen wenn zu nah an Objekt
+      driveBackwards();
+    }else{
+      //Zufälligerweise in die eine, oder andere Richtung drehen
+      if(random(2)){
+        turnLeft();
+      }else{
+        turnRight();
+      }
+    }
+  }else{
+    driveForward(MOTOR_PWM_MIN);
+  }
+  //Zeit für Aktionen gewähren
+  delay(MOTOR_DIRECTION_DELAY);
+  
+  //Motoren nach Aktion stoppen
+  stopMotors();
+}
+
+//Lässt eine LED blinken
+void blinkLED(int led,int count=7, int time=1000){
+  for(int i=0;i<count;i++){  
+    digitalWrite(led, HIGH);
+    delay(time);               
+    digitalWrite(led, LOW);    // turn the LED off by making the voltage LOW
+  }
+}
+
+//Stellt ein Serielles Testinterface zur Verfügung
+void siMenue(){
+  byte c;
+  boolean isValidInput;
+  
+  Serial.println( "-----------------------------" );
+  Serial.println( "Formiko - Testmenue " );
+  Serial.println( "" );
+  Serial.println( "1) Forward ");
+  Serial.println( "2) Turn Left ");
+  Serial.println( "3) Turn Right ");
+  Serial.println( "4) Stop ");
+  Serial.println( "5) Show Status ");
+  Serial.println( "" );
+  Serial.println( "@author kf" );
+  Serial.println( "@since 2016-01-16" );
+  Serial.println( "-----------------------------" );
+    
+  do{
+    isValidInput = true;
+    // get the next character from the serial port
+    Serial.print( "?" );
+    //Abwarten bis serielles Interface zur Verfügung steht
+    //while( !Serial.available() );
+    c = Serial.read();
+    switch( c )
+    {
+      case '1':      
+        driveForward();
+        break;
+      case '2':      
+        turnLeft();
+        break;
+      case '3':      
+        turnRight();
+        break;
+      case '4':      
+        stopMotors();
+        break;
+      case '5':      
+        serialStatus();
+        break;
+      default:
+        Serial.println("Die gewünschte Funktion steht nicht zur Verfügung!");
+        break;
+    }
+    delay(1500);
+  } while(true); 
+}
+//Initialisierung
+void setup(){
+  //LED initialisierung
+  pinMode(INTERNAL_LED,OUTPUT);
+  pinMode(EXTERNAL_LED,OUTPUT);
+  
+  //Infarotinitialisierung
+  pinMode(INFAROT_LEFT,INPUT);
+  pinMode(INFAROT_RIGHT,INPUT);
+  
+  //Initialisierung des linken Motors
+  pinMode(MOTOR_LEFT_DIRECTION, OUTPUT );
+  pinMode(MOTOR_LEFT_PWM, OUTPUT );
+  digitalWrite(MOTOR_LEFT_DIRECTION, LOW );
+  digitalWrite(MOTOR_LEFT_PWM, LOW );
+
+  //Initialisierung des rechten Motors
+  pinMode(MOTOR_RIGHT_DIRECTION, OUTPUT );
+  pinMode(MOTOR_RIGHT_PWM, OUTPUT );
+  digitalWrite(MOTOR_RIGHT_DIRECTION, LOW );
+  digitalWrite(MOTOR_RIGHT_PWM, LOW );
+
+  //Open serial monitor at 115200 baud to see ping results.
+  Serial.begin(115200);
+
+  //Randomwerte zur verfügung stellen
+  randomSeed(analogRead(0));
+}
+
+//Main-Loop
+void loop(){
+  //blinkLED(EXTERNAL_LED);
+  //digitalWrite(INTERNAL_LED, HIGH);
+  //Solange Standartroutinen ausführen bis USB geladen 
+  //while( !Serial.available() ){
+  //   randomDrive();
+  //}
+  //Serieles Menue aufrufen
+  siMenue();
+  //serialStatus();
+}