mirror of
https://github.com/kevinveenbirkenbach/formiko.git
synced 2024-12-04 19:37:48 +01:00
Motorsteurung optimiert
This commit is contained in:
Kevin Frantz
parent
0dff93794c
commit
1c7ab97b9d
150
formiko.ino
150
formiko.ino
@ -11,15 +11,16 @@
|
||||
* @since 2017-01-16
|
||||
**/
|
||||
|
||||
|
||||
//include "Communication.h"
|
||||
//Bibliothek für Ultraschalsensor
|
||||
#include <NewPing.h>
|
||||
|
||||
//Bibliothek für Motorsteurung
|
||||
#include <Motor.h>
|
||||
|
||||
// Ultraschallsensor
|
||||
#define TRIGGER_PIN 3
|
||||
#define ECHO_PIN 4
|
||||
#define MAX_DISTANCE 400
|
||||
#define MAX_DISTANCE 200
|
||||
|
||||
// Infarosensoren
|
||||
#define INFAROT_LEFT 2
|
||||
@ -35,55 +36,44 @@
|
||||
#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
|
||||
#define MOTOR_PWM_NORMAL 50
|
||||
#define MOTOR_DIRECTION_DELAY 50 // brief delay for abrupt motor changes
|
||||
|
||||
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of pins and maximum distance.
|
||||
//Initialisierung des Ultraschalsonars
|
||||
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_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
|
||||
}
|
||||
//Initialisierung der Motoren
|
||||
Motor motorLeft = Motor(MOTOR_LEFT_DIRECTION,MOTOR_LEFT_PWM,HIGH,MOTOR_PWM_NORMAL,MOTOR_DIRECTION_DELAY);
|
||||
Motor motorRight = Motor(MOTOR_RIGHT_DIRECTION,MOTOR_RIGHT_PWM,HIGH,MOTOR_PWM_NORMAL,MOTOR_DIRECTION_DELAY);
|
||||
|
||||
// Stoppt ein Roboterrad
|
||||
void stopWheel(int directionPin, int pwmPin){
|
||||
digitalWrite(directionPin, LOW );
|
||||
digitalWrite(pwmPin, LOW );
|
||||
}
|
||||
|
||||
//Stopt das Roboterrad
|
||||
//Stopt die Motoren
|
||||
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);
|
||||
motorLeft.stop();
|
||||
motorRight.stop();
|
||||
}
|
||||
|
||||
//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);
|
||||
|
||||
void driveForward(){
|
||||
motorLeft.forward();
|
||||
motorRight.forward();
|
||||
}
|
||||
|
||||
//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);
|
||||
|
||||
void driveBackward(){
|
||||
motorLeft.backward();
|
||||
motorRight.backward();
|
||||
}
|
||||
|
||||
//Dreht den Roboter nach rechts
|
||||
void turnRight(){
|
||||
turnWheel(MOTOR_LEFT_DIRECTION,MOTOR_LEFT_PWM);
|
||||
motorLeft.forward();
|
||||
motorRight.backward();
|
||||
}
|
||||
|
||||
//Dreht den Roboter nach links
|
||||
void turnLeft(){
|
||||
turnWheel(MOTOR_RIGHT_DIRECTION,MOTOR_RIGHT_PWM);
|
||||
motorLeft.backward();
|
||||
motorRight.forward();
|
||||
}
|
||||
|
||||
//Gibt die Sensordaten über die serielle Schnittstelle aus
|
||||
@ -96,40 +86,38 @@ void serialStatus(){
|
||||
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){
|
||||
void blinkLED(int led,int count=1, 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
|
||||
delay(time);
|
||||
}
|
||||
}
|
||||
|
||||
//Fährt den Roboter zuällig durch den Raum und umgeht Hindernisse
|
||||
void randomDrive(){
|
||||
//Prüfen ob Objekt in Fahrbahn
|
||||
if(sonar.ping_cm()<=20 && sonar.ping_cm()!=0){
|
||||
if(sonar.ping_cm()<=10){
|
||||
driveBackward();
|
||||
}else
|
||||
//Zufälligerweise in die eine, oder andere Richtung drehen
|
||||
if(random(2)){
|
||||
turnLeft();
|
||||
}else{
|
||||
turnRight();
|
||||
}
|
||||
}else{
|
||||
driveForward();
|
||||
}
|
||||
delay(1000);
|
||||
//Motoren nach Aktion stoppen
|
||||
stopMotors();
|
||||
blinkLED(INTERNAL_LED);
|
||||
}
|
||||
|
||||
//Stellt ein Serielles Testinterface zur Verfügung
|
||||
void siMenue(){
|
||||
byte c;
|
||||
@ -143,17 +131,17 @@ void siMenue(){
|
||||
Serial.println( "3) Turn Right ");
|
||||
Serial.println( "4) Stop ");
|
||||
Serial.println( "5) Show Status ");
|
||||
Serial.println( "6) Drive Backwards ");
|
||||
Serial.println( "" );
|
||||
Serial.println( "@author kf" );
|
||||
Serial.println( "@since 2016-01-16" );
|
||||
Serial.println( "-----------------------------" );
|
||||
|
||||
Serial.print( "?" );
|
||||
//while(true){
|
||||
do{
|
||||
isValidInput = true;
|
||||
// get the next character from the serial port
|
||||
Serial.print( "?" );
|
||||
//Abwarten bis serielles Interface zur Verfügung steht
|
||||
//while( !Serial.available() );
|
||||
while( !Serial.available() );
|
||||
c = Serial.read();
|
||||
switch( c )
|
||||
{
|
||||
@ -172,13 +160,19 @@ void siMenue(){
|
||||
case '5':
|
||||
serialStatus();
|
||||
break;
|
||||
case '6':
|
||||
driveBackward();
|
||||
break;
|
||||
default:
|
||||
Serial.println("Die gewünschte Funktion steht nicht zur Verfügung!");
|
||||
//isValidInput = false;
|
||||
break;
|
||||
}
|
||||
delay(1500);
|
||||
} while(true);
|
||||
//delay(1500);
|
||||
} while(isValidInput);
|
||||
//Serial.println("Die gewünschte Funktion steht nicht zur Verfügung!");
|
||||
//}
|
||||
}
|
||||
|
||||
//Initialisierung
|
||||
void setup(){
|
||||
//LED initialisierung
|
||||
@ -189,34 +183,20 @@ void setup(){
|
||||
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();
|
||||
//}
|
||||
while( !Serial.available() ){
|
||||
randomDrive();
|
||||
}
|
||||
//Serieles Menue aufrufen
|
||||
siMenue();
|
||||
//serialStatus();
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user