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New MKII version of library

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This commit is contained in:
Joni.Glueck 2020-03-30 13:56:43 +02:00
parent d5754d0a9f
commit 462dbb3db4
3 changed files with 151 additions and 173 deletions
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154
vsode/coderacer_mkII/lib/CodeRacer_MKII/CodeRacer_MKII.cpp
View file

@ -8,20 +8,21 @@ using namespace std;
*/ */
CodeRacerMKII::CodeRacerMKII() CodeRacerMKII::CodeRacerMKII()
{ {
_button_pin = H_BUTTON_PIN; _button_pin_left = H_BUTTON_PIN_LEFT;
_button_pin_right = H_BUTTON_PIN_RIGHT;
_servo_pin = H_SERVO_PIN; _servo_pin = H_SERVO_PIN;
_us_trigger_pin = H_US_TRIG_PIN; _us_trigger_pin = H_US_TRIG_PIN;
_us_echo_pin = H_US_ECHO_PIN; _us_echo_pin = H_US_ECHO_PIN;
_drive_left_frwd_pin = H_DRIVE_LEFT_FWRD_PIN; _drive_left_frwd_bkwrd_pin = H_DRIVE_LEFT_FWRD_BKWRD_PIN;
_drive_left_back_pin = H_DRIVE_LEFT_BACK_PIN;
_drive_left_enable_pin = H_DRIVE_LEFT_ENABLE_PIN; _drive_left_enable_pin = H_DRIVE_LEFT_ENABLE_PIN;
_drive_right_frwd_pin = H_DRIVE_RIGHT_FWRD_PIN; _drive_right_frwd_bkwrd_pin = H_DRIVE_RIGHT_FWRD_BKWRD_PIN;
_drive_right_back_pin = H_DRIVE_RIGHT_BACK_PIN;
_drive_right_enable_pin = H_DRIVE_RIGHT_ENABLE_PIN; _drive_right_enable_pin = H_DRIVE_RIGHT_ENABLE_PIN;
_led_frwd_pin = H_LED_FRWD_PIN; _led_frwd_pin = H_LED_FRWD_PIN;
_led_stop_pin = H_LED_STOP_PIN; _led_stop_pin = H_LED_STOP_PIN;
_led_left_pin = H_LED_LEFT_PIN; _led_left_pin = H_LED_LEFT_PIN;
_led_right_pin = H_LED_RIGHT_PIN; _led_right_pin = H_LED_RIGHT_PIN;
_led_blue_pin = H_LED_BLUE_PIN;
_led_white_pin = H_LED_WHITE_PIN;
} }
/** @brief CodeRace constructor with pins.This will overwrite the default settings taken from the header file. /** @brief CodeRace constructor with pins.This will overwrite the default settings taken from the header file.
@ -39,29 +40,32 @@ CodeRacerMKII::CodeRacerMKII()
* @param led_stop_pin Pin the led that signals that the drives are stopped is connected at * @param led_stop_pin Pin the led that signals that the drives are stopped is connected at
* @param led_left_pin Pin the led that signals left side direction is connected at * @param led_left_pin Pin the led that signals left side direction is connected at
* @param led_right_pin Pin the led that signals right side direction is connected at * @param led_right_pin Pin the led that signals right side direction is connected at
* @param led_blue_pin Pin the blue led is connected at
* @param led_white_pin Pin the white led is connected at
* @return nothing * @return nothing
*/ */
CodeRacerMKII::CodeRacerMKII(uint8_t button_pin , uint8_t servo_pin, CodeRacerMKII::CodeRacerMKII(uint8_t button_pin_left , uint8_t button_pin_right, uint8_t servo_pin,
uint8_t us_trigger_pin, uint8_t us_echo_pin, uint8_t us_trigger_pin, uint8_t us_echo_pin,
uint8_t drive_left_frwd_pin, uint8_t drive_left_back_pin, uint8_t drive_left_enable_pin, uint8_t drive_left_frwd_bkwrd_pin, uint8_t drive_left_enable_pin,
uint8_t drive_right_frwd_pin, uint8_t drive_right_back_pin, uint8_t drive_right_enable_pin, uint8_t drive_right_frwd_bkwrd_pin, uint8_t drive_right_enable_pin,
uint8_t led_frwd_pin, uint8_t led_stop_pin, uint8_t led_left_pin, uint8_t led_right_pin uint8_t led_frwd_pin, uint8_t led_stop_pin, uint8_t led_left_pin, uint8_t led_right_pin, uint8_t led_blue_pin, uint8_t led_white_pin
) )
{ {
_button_pin = button_pin; _button_pin_left = button_pin_left;
_button_pin_right = button_pin_right;
_servo_pin = servo_pin; _servo_pin = servo_pin;
_us_trigger_pin = us_trigger_pin; _us_trigger_pin = us_trigger_pin;
_us_echo_pin = us_echo_pin; _us_echo_pin = us_echo_pin;
_drive_left_frwd_pin = drive_left_frwd_pin; _drive_left_frwd_bkwrd_pin = drive_left_frwd_bkwrd_pin;
_drive_left_back_pin = drive_left_back_pin;
_drive_left_enable_pin = drive_left_enable_pin; _drive_left_enable_pin = drive_left_enable_pin;
_drive_right_frwd_pin = drive_right_frwd_pin; _drive_right_frwd_bkwrd_pin = drive_right_frwd_bkwrd_pin;
_drive_right_back_pin = drive_right_back_pin;
_drive_right_enable_pin = drive_right_enable_pin; _drive_right_enable_pin = drive_right_enable_pin;
_led_frwd_pin = led_frwd_pin; _led_frwd_pin = led_frwd_pin;
_led_stop_pin = led_stop_pin; _led_stop_pin = led_stop_pin;
_led_left_pin = led_left_pin; _led_left_pin = led_left_pin;
_led_right_pin = led_right_pin; _led_right_pin = led_right_pin;
_led_blue_pin = led_blue_pin;
_led_white_pin= led_white_pin;
} }
/** @brief Initialisation of all attributes and settings of the coderacer. Defaults are taken from the header file. /** @brief Initialisation of all attributes and settings of the coderacer. Defaults are taken from the header file.
@ -90,7 +94,7 @@ void CodeRacerMKII::begin() {
_drive_left_speed = H_DRIVE_LEFT_SPEED; _drive_left_speed = H_DRIVE_LEFT_SPEED;
_drive_right_speed = H_DRIVE_RIGHT_SPEED; _drive_right_speed = H_DRIVE_RIGHT_SPEED;
Serial.printf("1 speed left %d , speed right %d\n", _drive_left_speed, _drive_right_speed);
_turn_left_for_ms = H_RACER_TURN_LEFT_FOR_MS; _turn_left_for_ms = H_RACER_TURN_LEFT_FOR_MS;
_turn_right_for_ms = H_RACER_TURN_RIGHT_FOR_MS; _turn_right_for_ms = H_RACER_TURN_RIGHT_FOR_MS;
@ -102,7 +106,8 @@ void CodeRacerMKII::begin() {
_last_led_switched_at_ms = millis(); _last_led_switched_at_ms = millis();
_last_led_on = 0; _last_led_on = 0;
_led_count = 3; _led_count = 6;
right_button_pressed = 0;
_servo_look_around_at_ms = millis() + random(FUN_MIN_PAUSE_MS, FUN_MAX_PAUSE_MS); _servo_look_around_at_ms = millis() + random(FUN_MIN_PAUSE_MS, FUN_MAX_PAUSE_MS);
@ -118,17 +123,15 @@ void CodeRacerMKII::begin() {
_servo->attach(_servo_pin); _servo->attach(_servo_pin);
// Left drive // Left drive
pinMode(_drive_left_frwd_pin, OUTPUT); pinMode(_drive_left_frwd_bkwrd_pin, OUTPUT);
pinMode(_drive_left_back_pin, OUTPUT);
set_drive_left_state(DRIVESTOP); set_drive_left_state(DRIVESTOP);
ledcSetup(DRIVE_PWM_LEFT_CHANNEL, 5000, 8); // channel , 50 Hz, 8-bit width ledcSetup(DRIVE_PWM_LEFT_CHANNEL, 100, 8); // channel , 50 Hz, 8-bit width
ledcAttachPin(_drive_left_enable_pin, DRIVE_PWM_LEFT_CHANNEL); // connect left drive enable with PWM channel ledcAttachPin(_drive_left_enable_pin, DRIVE_PWM_LEFT_CHANNEL); // connect left drive enable with PWM channel
// Right drive // Right drive
pinMode(_drive_right_frwd_pin, OUTPUT); pinMode(_drive_right_frwd_bkwrd_pin, OUTPUT);
pinMode(_drive_right_back_pin, OUTPUT);
set_drive_right_state(DRIVESTOP); set_drive_right_state(DRIVESTOP);
ledcSetup(DRIVE_PWM_RIGHT_CHANNEL, 5000, 8); // channel , 50 Hz, 8-bit width ledcSetup(DRIVE_PWM_RIGHT_CHANNEL, 100, 8); // channel , 50 Hz, 8-bit width
ledcAttachPin(_drive_right_enable_pin, DRIVE_PWM_RIGHT_CHANNEL); // connect right drive enable pin with PWM channel ledcAttachPin(_drive_right_enable_pin, DRIVE_PWM_RIGHT_CHANNEL); // connect right drive enable pin with PWM channel
// LEDs // LEDs
@ -136,24 +139,27 @@ void CodeRacerMKII::begin() {
pinMode(_led_stop_pin, OUTPUT); pinMode(_led_stop_pin, OUTPUT);
pinMode(_led_left_pin, OUTPUT); pinMode(_led_left_pin, OUTPUT);
pinMode(_led_right_pin, OUTPUT); pinMode(_led_right_pin, OUTPUT);
// all LEDS off pinMode(_led_blue_pin, OUTPUT);
pinMode(_led_white_pin, OUTPUT);
set_leds_all_off(); set_leds_all_off();
// Button & -interrupt // Button & -interrupt
button_last_pressed_at_ms = 0; left_button_last_pressed_at_ms = 0;
pinMode(_button_pin, INPUT_PULLUP); right_button_last_pressed_at_ms = 0;
attachInterrupt(digitalPinToInterrupt(_button_pin), _set_button_state, FALLING); pinMode(_button_pin_left, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(_button_pin_left), _set_button_state_left, FALLING);
pinMode(_button_pin_right, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(_button_pin_right), _set_button_state_right, FALLING);
// Random // Random
randomSeed(analogRead(0)); randomSeed(analogRead(0));
//fun stuff //fun stuff
coderacer_fun_enabled = false; coderacer_fun_enabled = false;
} }
//************************************** //**************************************
//*** Coderacer hihger level methods *** //*** Coderacer higher level methods ***
//************************************** //**************************************
/** @defgroup higherlevel Higher level methods, setters and getters /** @defgroup higherlevel Higher level methods, setters and getters
* @{ * @{
@ -169,7 +175,7 @@ void CodeRacerMKII::stop_driving() {
_servo_sweep = false; _servo_sweep = false;
_drive = false; _drive = false;
set_drives_stop_left_right(); set_drives_stop_left_right();
set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDOFF, LEDOFF); set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF);
} }
/** @brief Sets the speed and the directions of both drives so that it will move forward. /** @brief Sets the speed and the directions of both drives so that it will move forward.
@ -193,7 +199,7 @@ void CodeRacerMKII::drive_forward(uint8_t left_speed, uint8_t right_speed)
{ {
set_drives_states_left_right(DRIVEFRWD, DRIVEFRWD); set_drives_states_left_right(DRIVEFRWD, DRIVEFRWD);
set_drives_speed_left_right(left_speed, right_speed); set_drives_speed_left_right(left_speed, right_speed);
set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF); set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF);
_drive = true; _drive = true;
_drive_set_at_ms = millis(); _drive_set_at_ms = millis();
} }
@ -219,7 +225,7 @@ void CodeRacerMKII::drive_backward(uint8_t left_speed, uint8_t right_speed)
{ {
set_drives_states_left_right(DRIVEBACK, DRIVEBACK); set_drives_states_left_right(DRIVEBACK, DRIVEBACK);
set_drives_speed_left_right(left_speed, right_speed); set_drives_speed_left_right(left_speed, right_speed);
set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDON, LEDOFF); set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF);
_drive = true; _drive = true;
_drive_set_at_ms = millis(); _drive_set_at_ms = millis();
} }
@ -257,7 +263,7 @@ void CodeRacerMKII::turn_left(unsigned long turn_for_ms)
void CodeRacerMKII::turn_left(unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed) void CodeRacerMKII::turn_left(unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed)
{ {
_drive = false; _drive = false;
set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF); // LEDs setzen set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF); // LEDs setzen
set_drives_states_left_right(DRIVEBACK, DRIVEFRWD); set_drives_states_left_right(DRIVEBACK, DRIVEFRWD);
set_drives_speed_left_right(left_speed, right_speed); set_drives_speed_left_right(left_speed, right_speed);
// wait set delay for the timed turn // wait set delay for the timed turn
@ -300,7 +306,7 @@ void CodeRacerMKII::turn_right(unsigned long turn_for_ms)
void CodeRacerMKII::turn_right(unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed) void CodeRacerMKII::turn_right(unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed)
{ {
_drive = false; _drive = false;
set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDON); // LEDs setzen set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF); // LEDs setzen
set_drives_states_left_right(DRIVEFRWD, DRIVEBACK); set_drives_states_left_right(DRIVEFRWD, DRIVEBACK);
set_drives_speed_left_right(left_speed, right_speed); set_drives_speed_left_right(left_speed, right_speed);
// wait set delay for the timed turn // wait set delay for the timed turn
@ -361,7 +367,7 @@ bool CodeRacerMKII::start_stop() {
} }
else { else {
stop_driving(); stop_driving();
set_leds_all_on(); set_leds_all_off();
delay(200); delay(200);
servo_set_to_center(); servo_set_to_center();
_servo_look_around_at_ms = millis() + random(20000, 120000); _servo_look_around_at_ms = millis() + random(20000, 120000);
@ -425,12 +431,25 @@ void CodeRacerMKII::set_active() {
/** @brief Checks if coderracer_activ is set. /** @brief Checks if coderracer_activ is set.
* *
* coderracer_activ is toggled each time the button is pressed. After power on coderracer_activ is set to False. * coderracer_activ is toggled each time the left button is pressed. After power on coderracer_activ is set to False.
* @return True id coderracer_activ is set - False if not. * @return True if coderracer_activ is set - False if not.
*/ */
bool CodeRacerMKII::is_active() { bool CodeRacerMKII::is_active() {
return(coderracer_activ); return(coderracer_activ);
} }
/** @brief returns the right button's current state
* _right_button_state is toggled each time the right button is pressed. Is set false by default.
* @return true if _right_button_pressed is set- False if not.
*/
bool CodeRacerMKII::right_button_state() {
return(right_button_pressed);
}
unsigned int CodeRacerMKII::button_count() {
return(right_button_count);
}
/** @} */ // end of group higherlevelgetters /** @} */ // end of group higherlevelgetters
/** @} */ // end of group higherlevel /** @} */ // end of group higherlevel
@ -467,7 +486,7 @@ void CodeRacerMKII::kitt()
{ {
if (millis() - _last_led_switched_at_ms > LED_SWITCH_MS) { if (millis() - _last_led_switched_at_ms > LED_SWITCH_MS) {
_last_led_switched_at_ms = millis(); _last_led_switched_at_ms = millis();
if (_last_led_on >= 5) { if (_last_led_on >= 6) {
_led_count = -1; _led_count = -1;
} }
else if (_last_led_on <= 0) { else if (_last_led_on <= 0) {
@ -476,21 +495,25 @@ void CodeRacerMKII::kitt()
_last_led_on = _last_led_on + _led_count; _last_led_on = _last_led_on + _led_count;
switch (_last_led_on) { switch (_last_led_on) {
case 0: case 0:
set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF); set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF);
break; break;
case 1: case 1:
set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF); set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF);
break; break;
case 2: case 2:
set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDOFF, LEDOFF); set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF, LEDOFF);
break; break;
case 3: case 3:
set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF); set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF, LEDOFF);
break; break;
case 4: case 4:
case 5: set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF, LEDOFF);
set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDON);
break; break;
case 5:
set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDON, LEDOFF);
break;
case 6:
set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDOFF, LEDON);
} }
} }
} }
@ -1049,7 +1072,7 @@ void CodeRacerMKII::set_drives_states_left_right(drivestate stateleft, drivestat
* @return nothing * @return nothing
*/ */
void CodeRacerMKII::set_drive_left_state(drivestate state) { void CodeRacerMKII::set_drive_left_state(drivestate state) {
set_drive_state(state, _drive_left_frwd_pin, _drive_left_back_pin); set_drive_state(state, _drive_left_frwd_bkwrd_pin, _drive_left_enable_pin);
} }
/** @brief Sets the right side drive to the specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK) /** @brief Sets the right side drive to the specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK)
@ -1057,7 +1080,7 @@ void CodeRacerMKII::set_drive_left_state(drivestate state) {
* @return nothing * @return nothing
*/ */
void CodeRacerMKII::set_drive_right_state(drivestate state) { void CodeRacerMKII::set_drive_right_state(drivestate state) {
set_drive_state(state, _drive_right_frwd_pin, _drive_right_back_pin); set_drive_state(state, _drive_right_frwd_bkwrd_pin, _drive_right_enable_pin);
} }
/** @brief Sets the specified drivestate for the drive connected to the sepecified pins (DRIVESTOP, DRIVEFRWD, DRIVEBACK) /** @brief Sets the specified drivestate for the drive connected to the sepecified pins (DRIVESTOP, DRIVEFRWD, DRIVEBACK)
@ -1066,19 +1089,16 @@ void CodeRacerMKII::set_drive_right_state(drivestate state) {
* @param backpin Pin the backward signal of the drive device driver is connected at * @param backpin Pin the backward signal of the drive device driver is connected at
* @return nothing * @return nothing
*/ */
void CodeRacerMKII::set_drive_state(drivestate state, uint8_t frwdpin, uint8_t backpin) { void CodeRacerMKII::set_drive_state(drivestate state, uint8_t frwdbackpin, uint8_t enable_pin ) {
switch (state) { switch (state) {
case DRIVESTOP: case DRIVESTOP:
digitalWrite(frwdpin, LOW); set_drive_speed(0, enable_pin);
digitalWrite(backpin, LOW);
break; break;
case DRIVEFRWD: case DRIVEFRWD:
digitalWrite(frwdpin, HIGH); digitalWrite(frwdbackpin, HIGH);
digitalWrite(backpin, LOW);
break; break;
case DRIVEBACK: case DRIVEBACK:
digitalWrite(frwdpin, LOW); digitalWrite(frwdbackpin, LOW);
digitalWrite(backpin, HIGH);
break; break;
} }
} }
@ -1147,11 +1167,11 @@ uint8_t CodeRacerMKII::drive_left_speed() {
void CodeRacerMKII::_analog_write(uint8_t pin, uint8_t speed) { void CodeRacerMKII::_analog_write(uint8_t pin, uint8_t speed) {
if (pin == _drive_left_enable_pin) { if (pin == _drive_left_enable_pin) {
_drive_left_speed = speed; //_drive_left_speed = speed;
ledcWrite(DRIVE_PWM_LEFT_CHANNEL, speed); ledcWrite(DRIVE_PWM_LEFT_CHANNEL, speed);
} }
if (pin == _drive_right_enable_pin) { if (pin == _drive_right_enable_pin) {
_drive_right_speed = speed; //_drive_right_speed = speed;
ledcWrite(DRIVE_PWM_RIGHT_CHANNEL, speed); ledcWrite(DRIVE_PWM_RIGHT_CHANNEL, speed);
} }
} }
@ -1175,13 +1195,17 @@ void CodeRacerMKII::_analog_write(uint8_t pin, uint8_t speed) {
* @param stopled set state of status stop LED (red led) * @param stopled set state of status stop LED (red led)
* @param frwdled set state of status forward LED (green or blue led) * @param frwdled set state of status forward LED (green or blue led)
* @param rightled set state of status right LED (most right yellow led) * @param rightled set state of status right LED (most right yellow led)
* @param blueled set state of blue LED
* @param whiteled set state of white LED
* @return nothing * @return nothing
*/ */
void CodeRacerMKII::set_leds_left_stop_frwd_right(ledstate leftled, ledstate stopled, ledstate frwdled, ledstate rightled) { void CodeRacerMKII::set_leds_left_stop_frwd_right(ledstate leftled, ledstate rightled, ledstate stopled, ledstate frwrdled, ledstate blueled, ledstate whiteled) {
digitalWrite(_led_left_pin, leftled); digitalWrite(_led_left_pin, leftled);
digitalWrite(_led_frwd_pin, frwdled);
digitalWrite(_led_right_pin, rightled); digitalWrite(_led_right_pin, rightled);
digitalWrite(_led_stop_pin, stopled); digitalWrite(_led_stop_pin, stopled);
digitalWrite(_led_frwd_pin, frwrdled);
digitalWrite(_led_blue_pin, blueled);
digitalWrite(_led_white_pin, whiteled);
} }
/** @brief Sets all of the 4 LEDs to the same ledstate (LEDON, LEDOFF) /** @brief Sets all of the 4 LEDs to the same ledstate (LEDON, LEDOFF)
@ -1190,9 +1214,11 @@ void CodeRacerMKII::set_leds_left_stop_frwd_right(ledstate leftled, ledstate sto
*/ */
void CodeRacerMKII::set_leds_all(ledstate alleds) { void CodeRacerMKII::set_leds_all(ledstate alleds) {
digitalWrite(_led_left_pin, alleds); digitalWrite(_led_left_pin, alleds);
digitalWrite(_led_frwd_pin, alleds);
digitalWrite(_led_right_pin, alleds); digitalWrite(_led_right_pin, alleds);
digitalWrite(_led_stop_pin, alleds); digitalWrite(_led_stop_pin, alleds);
digitalWrite(_led_frwd_pin, alleds);
digitalWrite(_led_blue_pin, alleds);
digitalWrite(_led_white_pin, alleds);
} }
/** @brief Sets all of the 4 LEDs to the ledstate LEDOFF /** @brief Sets all of the 4 LEDs to the ledstate LEDOFF
@ -1217,12 +1243,20 @@ void CodeRacerMKII::set_leds_all_on() {
//*** ISRs *** //*** ISRs ***
//************************************** //**************************************
//IRAM_ATTR is used to load the code into DRAM and not to Flash to make it faster - required for ISRs //IRAM_ATTR is used to load the code into DRAM and not to Flash to make it faster - required for ISRs
void IRAM_ATTR CodeRacerMKII::_set_button_state() { void IRAM_ATTR CodeRacerMKII::_set_button_state_left() {
if ((millis() - button_last_pressed_at_ms) > BUTTON_BOUNCING_TIME_MS) { if ((millis() - left_button_last_pressed_at_ms) > BUTTON_BOUNCING_TIME_MS) {
button_last_pressed_at_ms = millis(); // simplest debouncing - just wait ;-) left_button_last_pressed_at_ms = millis(); // simplest debouncing - just wait ;-)
coderracer_activ = !coderracer_activ; coderracer_activ = !coderracer_activ;
} }
} }
void IRAM_ATTR CodeRacerMKII::_set_button_state_right() {
if ((millis() - right_button_last_pressed_at_ms) > BUTTON_BOUNCING_TIME_MS) {
right_button_last_pressed_at_ms = millis();
right_button_pressed = !right_button_pressed;
right_button_count++;
}
}
//********************************************************************************************************************** //**********************************************************************************************************************
//** Helper methods //** Helper methods

69
vsode/coderacer_mkII/lib/CodeRacer_MKII/CodeRacer_MKII.h
View file

@ -18,10 +18,11 @@
#define FUN_MAX_PAUSE_MS 300000 #define FUN_MAX_PAUSE_MS 300000
#define LED_SWITCH_MS 50 // speed of knight rider lights #define LED_SWITCH_MS 50 // speed of knight rider lights
//----- Button ------------ //----- Button ------------
#define H_BUTTON_PIN 17 #define H_BUTTON_PIN_LEFT 13
#define H_BUTTON_PIN_RIGHT 16
#define BUTTON_BOUNCING_TIME_MS 200 // bouncing delay #define BUTTON_BOUNCING_TIME_MS 200 // bouncing delay
//----- Servo ----- //----- Servo -----
#define H_SERVO_PIN 16 #define H_SERVO_PIN 18
#define H_SERVO_LEFT_POS 145 // left position of the servo #define H_SERVO_LEFT_POS 145 // left position of the servo
#define H_SERVO_CENTER_LEFT 100 // left-center position of the servo #define H_SERVO_CENTER_LEFT 100 // left-center position of the servo
#define H_SERVO_RIGHT_POS 35 // right position of the servo #define H_SERVO_RIGHT_POS 35 // right position of the servo
@ -37,20 +38,18 @@
#define SERVO_SET_1TICK_POSITION_DELAY_MS 3 // minimum duration of time between two servo steps #define SERVO_SET_1TICK_POSITION_DELAY_MS 3 // minimum duration of time between two servo steps
//----- Ultrasonic sensor ----- //----- Ultrasonic sensor -----
#define H_US_TRIG_PIN 12 #define H_US_TRIG_PIN 21
#define H_US_ECHO_PIN 14 #define H_US_ECHO_PIN 17
#define H_US_STOP_DISTANCE_CM 25 // if the measured distance is smaller the racer maybe stopped #define H_US_STOP_DISTANCE_CM 25 // if the measured distance is smaller the racer maybe stopped
#define US_MAX_ECHO_TIME_US 6000 // timeout for ultrasonic sensor measurements - this is about 100cm #define US_MAX_ECHO_TIME_US 6000 // timeout for ultrasonic sensor measurements - this is about 100cm
//----- Drives ----- //----- Drives -----
#define H_DRIVE_RIGHT_SPEED 255 // default speed of right side drive. 0 ...255 #define H_DRIVE_RIGHT_SPEED 128 // default speed of right side drive. 0 ...255
#define H_DRIVE_LEFT_SPEED 255 // default speed of left side drive. 0 ...255 #define H_DRIVE_LEFT_SPEED 128 // default speed of left side drive. 0 ...255
#define H_DRIVE_RIGHT_ENABLE_PIN 2 #define H_DRIVE_RIGHT_ENABLE_PIN 5
#define H_DRIVE_RIGHT_FWRD_PIN 4 #define H_DRIVE_RIGHT_FWRD_BKWRD_PIN 19
#define H_DRIVE_RIGHT_BACK_PIN 15 #define H_DRIVE_LEFT_ENABLE_PIN 23
#define H_DRIVE_LEFT_ENABLE_PIN 21 #define H_DRIVE_LEFT_FWRD_BKWRD_PIN 22
#define H_DRIVE_LEFT_FWRD_PIN 22
#define H_DRIVE_LEFT_BACK_PIN 23
#define H_RACER_TURN_LEFT_FOR_MS 400 // duration of time the racer will turn to left #define H_RACER_TURN_LEFT_FOR_MS 400 // duration of time the racer will turn to left
#define H_RACER_TURN_RIGHT_FOR_MS 400 // duration of time the racer will turn to right #define H_RACER_TURN_RIGHT_FOR_MS 400 // duration of time the racer will turn to right
@ -58,16 +57,21 @@
#define DRIVE_PWM_RIGHT_CHANNEL 6 // PWM-channel for right side drive #define DRIVE_PWM_RIGHT_CHANNEL 6 // PWM-channel for right side drive
//----- LEDs ----- //----- LEDs -----
#define H_LED_FRWD_PIN 26 #define H_LED_FRWD_PIN 27
#define H_LED_STOP_PIN 25 #define H_LED_STOP_PIN 25
#define H_LED_LEFT_PIN 33 #define H_LED_LEFT_PIN 32
#define H_LED_RIGHT_PIN 27 #define H_LED_RIGHT_PIN 33
#define H_LED_BLUE_PIN 14
#define H_LED_WHITE_PIN 12
using namespace std; using namespace std;
static volatile bool coderracer_activ = false;; static volatile bool coderracer_activ = false;
static volatile unsigned long button_last_pressed_at_ms = millis(); static volatile bool right_button_pressed =false;
static volatile unsigned int right_button_count=0;
static volatile unsigned long left_button_last_pressed_at_ms = millis();
static volatile unsigned long right_button_last_pressed_at_ms = millis();
enum ledstate { enum ledstate {
LEDOFF, LEDOFF,
@ -94,20 +98,21 @@ class CodeRacerMKII {
BluetoothSerial* _BTSerial; BluetoothSerial* _BTSerial;
//pins //pins
uint8_t _button_pin; uint8_t _button_pin_left;
uint8_t _button_pin_right;
uint8_t _servo_pin; uint8_t _servo_pin;
uint8_t _us_trigger_pin; uint8_t _us_trigger_pin;
uint8_t _us_echo_pin; uint8_t _us_echo_pin;
uint8_t _drive_left_frwd_pin; uint8_t _drive_left_frwd_bkwrd_pin;
uint8_t _drive_left_back_pin;
uint8_t _drive_left_enable_pin; uint8_t _drive_left_enable_pin;
uint8_t _drive_right_frwd_pin; uint8_t _drive_right_frwd_bkwrd_pin;
uint8_t _drive_right_back_pin;
uint8_t _drive_right_enable_pin; uint8_t _drive_right_enable_pin;
uint8_t _led_frwd_pin; uint8_t _led_frwd_pin;
uint8_t _led_stop_pin; uint8_t _led_stop_pin;
uint8_t _led_left_pin; uint8_t _led_left_pin;
uint8_t _led_right_pin; uint8_t _led_right_pin;
uint8_t _led_blue_pin;
uint8_t _led_white_pin;
//servo variables //servo variables
int8_t _servo_sweep_step; int8_t _servo_sweep_step;
@ -135,7 +140,6 @@ class CodeRacerMKII {
uint8_t _last_led_on; uint8_t _last_led_on;
unsigned long _servo_look_around_at_ms; unsigned long _servo_look_around_at_ms;
unsigned long _min_distance_cm; unsigned long _min_distance_cm;
bool _drive; bool _drive;
unsigned long _drive_set_at_ms; unsigned long _drive_set_at_ms;
@ -146,7 +150,8 @@ class CodeRacerMKII {
Servo* _servo; Servo* _servo;
Servo* _servo_dummy; Servo* _servo_dummy;
static void _set_button_state(); static void _set_button_state_left();
static void _set_button_state_right();
void _analog_write(uint8_t pin, uint8_t speed); void _analog_write(uint8_t pin, uint8_t speed);
unsigned long _servo_set_position(uint8_t position); unsigned long _servo_set_position(uint8_t position);
@ -163,11 +168,11 @@ class CodeRacerMKII {
//methods //methods
CodeRacerMKII(); CodeRacerMKII();
CodeRacerMKII(uint8_t button_pin, uint8_t servo_pin, CodeRacerMKII(uint8_t button_pin_left, uint8_t button_pin_right, uint8_t servo_pin,
uint8_t us_trigger_pin, uint8_t us_echo_pin, uint8_t us_trigger_pin, uint8_t us_echo_pin,
uint8_t drive_left_frwd_pin, uint8_t drive_left_back_pin, uint8_t drive_left_enable_pin, uint8_t drive_left_frwd_bkwrd_pin, uint8_t drive_left_enable_pin,
uint8_t drive_right_frwd_pin, uint8_t drive_right_back_pin, uint8_t drive_right_enable_pin, uint8_t drive_right_frwd_bkwrd_pin, uint8_t drive_right_enable_pin,
uint8_t led_frwd_pin, uint8_t led_stop_pin, uint8_t led_left_pin, uint8_t led_right_pin); uint8_t led_frwd_pin, uint8_t led_stop_pin, uint8_t led_left_pin, uint8_t led_right_pin, uint8_t led_blue_pin, uint8_t led_white_pin);
void set_inactive(); void set_inactive();
void set_active(); void set_active();
@ -187,6 +192,9 @@ class CodeRacerMKII {
uint8_t drive_right_speed(); uint8_t drive_right_speed();
unsigned long turn_left_for_ms(); unsigned long turn_left_for_ms();
unsigned long turn_right_for_ms(); unsigned long turn_right_for_ms();
bool right_button_state();
unsigned int button_count();
// higher level {code}racer services // higher level {code}racer services
void stop_driving(); void stop_driving();
@ -205,7 +213,6 @@ class CodeRacerMKII {
void start_stop_at_min_distance(unsigned long min_distance_cm); void start_stop_at_min_distance(unsigned long min_distance_cm);
void stop_stop_at_min_distance(); void stop_stop_at_min_distance();
bool start_stop(); bool start_stop();
// Bluetooth // Bluetooth
void bt_enable_stopOnLostConnection(); void bt_enable_stopOnLostConnection();
void bt_enable_stopOnLostConnection(unsigned long timeout); void bt_enable_stopOnLostConnection(unsigned long timeout);
@ -219,7 +226,7 @@ class CodeRacerMKII {
void bt_removeStringFromIgnoreList(String stringtoignore); void bt_removeStringFromIgnoreList(String stringtoignore);
// LEDs // LEDs
void set_leds_left_stop_frwd_right(ledstate leftled, ledstate stopled, ledstate frwdled, ledstate rightled); void set_leds_left_stop_frwd_right(ledstate leftled, ledstate stopled, ledstate frwdled, ledstate rightled, ledstate blueled, ledstate whiteled);
void set_leds_all(ledstate alleds); void set_leds_all(ledstate alleds);
void set_leds_all_off(); void set_leds_all_off();
void set_leds_all_on(); void set_leds_all_on();
@ -229,7 +236,7 @@ class CodeRacerMKII {
void set_drives_states_left_right(drivestate stateleft, drivestate stateright); void set_drives_states_left_right(drivestate stateleft, drivestate stateright);
void set_drive_left_state(drivestate state); void set_drive_left_state(drivestate state);
void set_drive_right_state(drivestate state); void set_drive_right_state(drivestate state);
void set_drive_state(drivestate state, uint8_t frwdpin, uint8_t backpin); void set_drive_state(drivestate state, uint8_t fwrdbackpin, uint8_t enable_pin);
void set_drives_speed_left_right(uint8_t speedleft, uint8_t speedright); void set_drives_speed_left_right(uint8_t speedleft, uint8_t speedright);
void set_drive_left_speed(uint8_t speed); void set_drive_left_speed(uint8_t speed);
void set_drive_right_speed(uint8_t speed); void set_drive_right_speed(uint8_t speed);

95
vsode/coderacer_mkII/src/coderacer_main.cpp
View file

@ -18,7 +18,7 @@ CodeRacerMKII coderacer;
//---- Hier startet der Code zum Einstellen aller wichtigen Dinge. Setup() wird einmal ausgeführt. ---- //---- Hier startet der Code zum Einstellen aller wichtigen Dinge. Setup() wird einmal ausgeführt. ----
void setup() { void setup() {
// Monitor // Monitor
Serial.begin(115200); // Serial Monitor aktivieren. Mit dem Monitor kann man sich Werte und Meldungen anzeigen lassen. Serial.begin(9600); // Serial Monitor aktivieren. Mit dem Monitor kann man sich Werte und Meldungen anzeigen lassen.
// CodeRacer initialisieren // CodeRacer initialisieren
coderacer.begin(); coderacer.begin();
@ -37,92 +37,29 @@ void setup() {
//---- Hier startet unsere endlose Schleife - die immer wieder von vorn angefangen wird, wenn wir am Ende angekommen sind. Da ist unser "Fahr"Code drin, der den CodeRacer steuert //---- Hier startet unsere endlose Schleife - die immer wieder von vorn angefangen wird, wenn wir am Ende angekommen sind. Da ist unser "Fahr"Code drin, der den CodeRacer steuert
void loop() { void loop() {
while(coderacer.start_stop()== 1)
// Abstand messen -> nach vorn ... um zu sehen, ob was passiert messen wir immer ... auch wenn der Racer nicht fahren soll {
abstand_vorn_cm = coderacer.usonic_measure_cm();
// Abfragen ob der Racer fahren soll oder nicht ...
if(true == coderacer.start_stop()){
// Abstandssensor schon verstellen ... dann hat er das bis zur nächsten Messung auch geschafft
coderacer.servo_sweep(); coderacer.servo_sweep();
int iAbstand= coderacer.usonic_measure_cm();
// Ist die Bahn frei? coderacer.drive_forward(130, 108);
if(abstand_vorn_cm < US_STOP_ABSTAND_CM){ if (iAbstand<12)
// Nein! Der Abstand nach vorn ist kleiner als erlaubt! {
// Racer anhalten
coderacer.stop_driving(); coderacer.stop_driving();
// Nach links schauen! delay(1000);
coderacer.servo_set_to_left(); iAbstand= coderacer.usonic_measure_cm();
// Abstand messen und merken.
abstand_links_cm = coderacer.usonic_measure_cm();
// Nach rechts schauen!
coderacer.servo_set_to_right();
// Abstand messen und merken.
abstand_rechts_cm = coderacer.usonic_measure_cm();
// Ist der Abstand links oder rechts groß genug genug? while (iAbstand<20)
// Wenn nicht - wenn der Racer sich bisher noch nicht gedreht hat - fahre ein Stück rückwarts. Wenn der Racer sich gerade schon gedreht hat, drehe in dieselbe Richtung wie vorher. {
if((abstand_links_cm < US_MIN_ABSTAND_LI_RE) && (abstand_rechts_cm < US_MIN_ABSTAND_LI_RE)){
if(anzahl_drehung == 0){
coderacer.drive_backward(); coderacer.drive_backward();
delay(300); iAbstand= coderacer.usonic_measure_cm();
}
coderacer.stop_driving(); coderacer.stop_driving();
//noch mal Abstand messen ... delay(1000);
coderacer.servo_set_to_left(); coderacer.turn_left(300);
// Abstand messen und merken. delay(1000);
abstand_links_cm = coderacer.usonic_measure_cm();
// Nach rechts schauen!
coderacer.servo_set_to_right();
// Abstand messen und merken.
abstand_rechts_cm = coderacer.usonic_measure_cm();
}
if( anzahl_drehung > MAX_ANZAHL_DREHUNGEN ){
anzahl_drehung = 0;
} else {
anzahl_drehung ++;
} }
} }
// wenn der Racer sich noch nicht gedreht hat (anzahl_drehung == 0) - oder gerade rückwärts gefahren ist (anzahl_drehung == 1) drehe jetzt dahin wo mehr Platz ist;
if(anzahl_drehung <= 1){
// Welcher Abstand ist größer?
if(abstand_links_cm > abstand_rechts_cm){
// Links ist mehr Platz!
drehung = links;
}
else{
// Rechts ist mehr Platz!
drehung = rechts;
}
}
switch(drehung){
case links:
coderacer.turn_left();
coderacer.servo_set_to_center();
break;
case rechts:
coderacer.turn_right();
coderacer.servo_set_to_center();
break;
}
}
else{
// Ja! Die Bahn ist frei
// Wenn die Bahn richtig frei ist, dann können wir den Zähler fürs drehen auf 0 setzen ...
if( abstand_vorn_cm > (US_STOP_ABSTAND_CM + US_MIN_ABSTAND_LI_RE)){
anzahl_drehung = 0;
}
coderacer.drive_forward();
}
} else {
anzahl_drehung = 0;
}
} }