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Jens Noack 2021-07-09 15:30:20 +02:00
parent 92dc9c5dc3
commit 779b3d1bfd
34 changed files with 2527 additions and 983 deletions
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vsode/esp32_coderacer/lib/CodeRacer/CodeRacer.cpp → CodeRacer/CodeRacer.cpp
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vsode/esp32_coderacer/lib/CodeRacer/CodeRacer.h → CodeRacer/CodeRacer.h
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vsode/coderacer_mkII/lib/CodeRacer_MKII/examples/SimpleBTCoderacer/SimpleBTCoderacer.ino → CodeRacer/examples/SimpleBTCoderacer/SimpleBTCoderacer.ino
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vsode/esp32_coderacer/lib/CodeRacer/examples/esp32_coderacer_beispiel/esp32_coderacer_beispiel.ino → CodeRacer/examples/esp32_coderacer_beispiel/esp32_coderacer_beispiel.ino
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vsode/coderacer_mkII/lib/CodeRacer_MKII/keywords.txt → CodeRacer/keywords.txt
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vsode/coderacer_mkII/lib/CodeRacer_MKII/CodeRacer_MKII.cpp → CodeRacer_MKII/CodeRacer_MKII.cpp
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vsode/coderacer_mkII/lib/CodeRacer_MKII/CodeRacer_MKII.h → CodeRacer_MKII/CodeRacer_MKII.h
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vsode/coderacer_mkII/lib/CodeRacer_MKII/Webserver.cpp → CodeRacer_MKII/Webserver.cpp
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vsode/coderacer_mkII/lib/CodeRacer_MKII/Webserver.h → CodeRacer_MKII/Webserver.h
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vsode/esp32_coderacer/lib/CodeRacer/examples/SimpleBTCoderacer/SimpleBTCoderacer.ino → CodeRacer_MKII/examples/SimpleBTCoderacer/SimpleBTCoderacer.ino
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vsode/coderacer_mkII/lib/CodeRacer_MKII/examples/coderacer_mkII_beispiel/coderacer_mkII_beispiel.ino → CodeRacer_MKII/examples/coderacer_mkII_beispiel/coderacer_mkII_beispiel.ino
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vsode/esp32_coderacer/lib/CodeRacer/keywords.txt → CodeRacer_MKII/keywords.txt
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CodeRacer_MKII/library.json Normal file
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{
"name": "CoderacerMKII",
"version": "1.0.0",
"description": "Basic feature library for the CodeRacer",
"keywords": "coderacer",
"repository":
{
"type": "git",
"url": "https://itsblue.dev/coderacer/library.git"
},
"authors":
[
{
"name": "Jens Noack",
"email": "jnoack@itsblue.de",
"maintainer": true
}
],
"license": "GPL-3.0-or-later",
"frameworks": "*",
"platforms": "*"
}

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/html/
/latex/
/xml/

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@INCLUDE = Doxyfile
GENERATE_HTML = NO
GENERATE_XML = YES
XML_PROGRAMLISTING = NO
M_SHOW_UNDOCUMENTED = YES
# navbar
M_LINKS_NAVBAR1 =
M_LINKS_NAVBAR2 = "<a href=\"index.html\">Introduction</a>" \
annotated modules \
"<a href=\"Coderacer.pdf\">Download</a>"

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vsode/coderacer_mkII/.gitignore vendored
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.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch

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vsode/coderacer_mkII/.travis.yml
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# Continuous Integration (CI) is the practice, in software
# engineering, of merging all developer working copies with a shared mainline
# several times a day < https://docs.platformio.org/page/ci/index.html >
#
# Documentation:
#
# * Travis CI Embedded Builds with PlatformIO
# < https://docs.travis-ci.com/user/integration/platformio/ >
#
# * PlatformIO integration with Travis CI
# < https://docs.platformio.org/page/ci/travis.html >
#
# * User Guide for `platformio ci` command
# < https://docs.platformio.org/page/userguide/cmd_ci.html >
#
#
# Please choose one of the following templates (proposed below) and uncomment
# it (remove "# " before each line) or use own configuration according to the
# Travis CI documentation (see above).
#
#
# Template #1: General project. Test it using existing `platformio.ini`.
#
# language: python
# python:
# - "2.7"
#
# sudo: false
# cache:
# directories:
# - "~/.platformio"
#
# install:
# - pip install -U platformio
# - platformio update
#
# script:
# - platformio run
#
# Template #2: The project is intended to be used as a library with examples.
#
# language: python
# python:
# - "2.7"
#
# sudo: false
# cache:
# directories:
# - "~/.platformio"
#
# env:
# - PLATFORMIO_CI_SRC=path/to/test/file.c
# - PLATFORMIO_CI_SRC=examples/file.ino
# - PLATFORMIO_CI_SRC=path/to/test/directory
#
# install:
# - pip install -U platformio
# - platformio update
#
# script:
# - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N

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vsode/coderacer_mkII/.vscode/extensions.json vendored
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{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
]
}

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vsode/coderacer_mkII/include/README
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This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

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vsode/coderacer_mkII/lib/README
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This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into executable file.
The source code of each library should be placed in a an own separate directory
("lib/your_library_name/[here are source files]").
For example, see a structure of the following two libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
and a contents of `src/main.c`:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
PlatformIO Library Dependency Finder will find automatically dependent
libraries scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

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vsode/coderacer_mkII/platformio.ini
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;PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:esp32dev]
platform = espressif32
board = esp32dev
framework = arduino
monitor_speed= 115200

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vsode/coderacer_mkII/src/CodeRacer_Example_Main.cpp
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// Example Code of a CodeRacer sketch with implementation of a webserver
#include "CodeRacer_MKII.h"
#include "Webserver.h"
CodeRacerMKII Coderacer; // Inizialization of your CodeRacer
AsyncWebServer server(80); // IMPORTANT definition of the asynchronous Web server, including port number
int Distance;
int DemoMode=0;
int maximum= 0;
int Array[160];
int Degrees[160];
int location= 0; // Some numbers we need for later...
Codeserver Test((char*)"coderacer_ap", (char*)"007coderacer"); // Creation of the webserver. enter your network's SSID and password here
void setup()
{
Coderacer.begin();
Coderacer.servo_sweep_left_pos=120; // Just a few adjustments to the servo_sweep parameters- that way, the servo sweeps more narrowly
Coderacer.servo_sweep_right_pos= 60;
/* One problem we came across during the testing of the Coderacer was, that the two engines don't run equally fast- meaning that even with
identical speed (let's say 130, 130), the Racer will slowly pull to one side on longer distances. To adjust this issue, all you can do for now is test
which engine is more powerful- and adjust your speed for the left and right side drives accordingly. */
Coderacer.speed_settings(140, 130);
Serial.begin(115200);
Test.Run(); // Calls the Run() routine, which manages everything the webserver needs to work
Coderacer.wifi_printf("Activate a switch to choose a Demonstration program.");
wait_ms(1000);
/*the IP adress of the server is given out on the Serial monitor. It is currently connected to the CodeRacer we used for testing and programming this sample code.
If the IP adress of YOUR CodeRacer differs from the one specified in Webserver.cpp, you have to change the following part of the HTML char array:
var Url ="http://192.168.1.146/"; --> var Url ="your_IP_adress"; */
}
void loop()
/* the loop contains four demonstration example codes, seperated by switch/ case which are supposed to give you the idea of the
CodeRacer routines, what they do, how you can use them and what you need to consider before doing so. By turning on one of the switches, you select one of the demos.
Activate the CodeRacer by pressing the left button, and watch the CodeRacer doing (hopefully) what it is advised to. Don't hesitate to watch the Webserver as well,
instructions on how to get it running are shown and executed above. */
{
DemoMode= Coderacer.switch_check();
switch (DemoMode)
{
case 0:
{
Coderacer.kitt(); // This is just some fun stuff happening while no program has been selected... feel free to edit it out :)
break;
}
case 1:
/* a Demo featuring: measuring the distance, driving forward until it falls below a certain value, then driving back
for a small amount of time and turning 90 degrees to the right. NOTE: if you want to print out debug message on the Webserver,
build in a certain delay time so the AJAX protocoll can process the message (otherwise it won't get displayed). */
{
Coderacer.wifi_printf("Selected: Demo 1, activate your CodeRacer to start");
Coderacer.set_leds_all_off();
wait_ms(5000);
while(Coderacer.is_active()) // If the left button is pressed, the CodeRacer becomes active and the loop starts
{
wait_ms(300);
Distance= Coderacer.usonic_measure_single_shot_cm();
while(Distance>25)
{
Distance=Coderacer.usonic_measure_single_shot_cm();
Coderacer.servo_sweep();
Coderacer.drive_forward();
// tells the CodeRacer to drive forward while sweeping the servo from left to right (the sweeping range is defined eariler in this code) and measure the distance
}
Coderacer.stop_driving();
Coderacer.servo_set_to_center();
wait_ms(500);
Coderacer.drive_backward_for_ms(500);
wait_ms(500);
Coderacer.wifi_printf("Drehung!"); //prints out a message on the webserver
wait_ms(500);
Coderacer.turn_degree(80); // Due to the inertia of the wheels, lower the degrees of the turn a bit- in this case, although 80 are stated, the Racer does an almost perfect 90 degree turn...
wait_ms(500);
}
break;
}
case 2:
/* a more "intelligent" way to tell the CodeRacer where to drive. Basically the idea is to let the CodeRacer drive forward until a certain distance is reached (as done before).
Then, the servo sweeps from left to right filling an array of distances, getting the index of the highest value and then turning a precise amount of degrees,
depending on that value. The scheme of the code is explained below*/
{
Coderacer.wifi_printf("Selected: Demo 2, activate your CodeRacer to start");
Coderacer.set_leds_all_off();
wait_ms(5000);
while(Coderacer.is_active())
{
Distance= Coderacer.usonic_measure_cm();
while (Distance>25) // Again a simple way to tell the Racer "drive until a distance of __ cm is reached"
{
Distance= Coderacer.usonic_measure_single_shot_cm();
Coderacer.servo_sweep();
Coderacer.drive_forward(210, 190);
}
Coderacer.stop_driving();
wait_ms(1000);
for(int i=0, k=10; i<160; i++, k++) // sweeps the servo from right to leftmost position and fills an array with the measured distances
{
Coderacer.servo_set_position_wait(k);
Array[i]=Coderacer.usonic_measure_single_shot_cm();
}
Coderacer.servo_set_to_center(); // Reset servo
wait_ms(200);
maximum= Array[0]; // Defines the maximum value of the array at the index 0
for (int c = 0; c < 160; c++) // Emitts the highest value of the distance- array. One flaw: only the first time this value shows up is saved.
{
if (Array[c] > maximum)
{
maximum = Array[c];
location = c;
}
}
for(int i=0, k=80; i<160; i++, k--) // Finally, create an array of degrees from 80 to -80 (representing the distance array from 0 to 160)
{
Degrees[i]= k;
}
Coderacer.turn_degree(Degrees[location]); // ...And turn the servo by the number of degrees roughly representing the biggest distance!
wait_ms(500);
}
break;
}
case 3:
/* a demo program featuring: an alternative way telling the CodeRacer to stop when a ceratin distance is reached. the Racer will drive around
happily, turning left and right until the specified value is measured. NOTE: it might occur that the Racer won't get to measure the stop distance
- if that is the case, just hold your hand in front of it so it breaks out of the while- loop ;) */
{
Coderacer.wifi_printf("Selected: Demo 3, activate your CodeRacer to start");
Coderacer.set_leds_all_off();
wait_ms(5000);
while(Coderacer.is_active())
{
Distance = Coderacer.usonic_measure_cm(); // measure the distance - at the position of the servo
Coderacer.start_stop_at_min_distance(20); // Select a distance- the CodeRacer will stop if the Usonic Sensor measures it
while(!Coderacer.stopped_at_min_distance()) // WHILE the CodeRacer hasn't stopped at the previous declared distance...
{
if(Distance > 50)
{
Coderacer.drive_forward();
Coderacer.servo_sweep();
}
else if(Distance > 40)
{
Coderacer.turn_right();
}
else if(Distance > 30)
{
Coderacer.turn_left();
}
else
{
Coderacer.drive_backward();
}
Distance = Coderacer.usonic_measure_cm();
// Measure the distance again- be careful with usonic_measure_cm(), as this method takes a while to complete. Calling it too fast will crash your Code.
}
Coderacer.wifi_printf("Stopped at minimal stopped distance selected by user!!");
wait_ms(2000);
Coderacer.set_inactive();
}
break;
}
case 4:
/* a demo program showing the scheme of displaying messages in the Webserver. After doing so, take a look at the dashboard on the website!
the racer will drive a specific amounts of ticks for the left and right wheel afterwards, you can check if that works correctly looking into
the table. NOTE: you might want to disable the CodeRacer from driving away- no stopping condition built in this time, so it might
bump into something while driving... just let the wheels turn freely and watch the dashboard... */
{
Coderacer.wifi_printf("Selected: Demo 4, activate CodeRacer to start");
Coderacer.set_leds_all_off();
wait_ms(5000);
while(Coderacer.is_active())
{
Coderacer.set_obstacle_stop(true);
Coderacer.wifi_printf("Welcome...");
wait_ms(1000);
// As previously mentioned, the website resfrehes internally, but only in an interval of 750ms
// So if you want your message to be properly displayed, you got to build in a delay using wait_ms...
Coderacer.wifi_printf("Using wifi_printf");
wait_ms(1000);
Coderacer.wifi_printf("You can display custom messages on the Webserver!");
wait_ms(1000);
Coderacer.wifi_printf("But you knew that already!");
wait_ms(1000);
Coderacer.wifi_printf("Dont forget to build in small waiting windows...");
wait_ms(1000);
Coderacer.wifi_printf("So your message is transmitted properly!");
wait_ms(1000);
Coderacer.wifi_printf("Also, check out the clear button!");
wait_ms(1000);
Coderacer.wifi_printf("Now, watch the stepcounters in the table!");
wait_ms(2000);
Coderacer.drive_ticks_left(200, true);
while (true== Coderacer.is_driving()){} // IMPORTANT! halts the Code while the Racer is driving its __ steps on each side.
wait_ms(3000);
Coderacer.Reset_Stats(); // Resets the stats of the Racer, including stepcounters and speed settings to default.
Coderacer.speed_settings(255, 245); // New Speed settings for both drives...
wait_ms(3000); // The delay is once again needed so the debug message of reset_stats() is properly displayed...
Coderacer.drive_ticks_right(200, true);
while (true== Coderacer.is_driving()){}
Coderacer.wifi_printf("End of demo 3!");
wait_ms(3000);
Coderacer.set_inactive();
}
break;
}
}
}

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vsode/coderacer_mkII/src/coderacer_main.cpp
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#include "CodeRacer_MKII.h"
#include <ESP32Servo.h>
#include "esp32-hal-ledc.h"
//----- Werte für den Ultraschallsensor -----
#define US_STOP_ABSTAND_CM 20 // Wenn der gemessene Abstand kleiner ist, hält der CodeRacer an
#define US_MIN_ABSTAND_LI_RE 8 // Wenn der Unterschied zwischen linkem und und rechtem Abstand kleiner ist, dann drehe in dieselbe Richtugn wie vorher weiter
#define MAX_ANZAHL_DREHUNGEN 10 // Wenn der Coderacer sich schon so oft gedreht hat ohne eine Stelle zu finden, wo es Platz gibt - fahren wir mal ein Stück rückwärts ...
//----- Variablen, die wir brauchen um uns Werte zu merken ----
long abstand_vorn_cm, abstand_links_cm, abstand_rechts_cm;
enum drehrichtung {links=0, rechts};
drehrichtung drehung = links;
unsigned int anzahl_drehung = 0;
CodeRacerMKII coderacer;
int aabstand[160];
void filladistance();
int adegree[160];
unsigned int ispeed=0;
float fZeit= 0;
float fSpeedminleft= 0;
float fSpeedminright=0;
float fSpeedmaxleft=0;
float fSpeedmaxright=0;
int iTicks=101;
float callibration_drive(unsigned int tickstogo, float calfactor);
unsigned int getcount_function(bool left_notright);
void set_speed_function(bool left_notright, unsigned int speed);
unsigned int get_inmin(bool left_notright);
void calculate_veliocity(unsigned int inleft, unsigned int inright, float* vleft, float* vright);
const bool LEFT = true;
const bool RIGHT = false;
const unsigned int IN_MAX = 255;
//---- Hier startet der Code zum Einstellen aller wichtigen Dinge. Setup() wird einmal ausgeführt. ----
void setup2() {
// Monitor
Serial.begin(9600); // Serial Monitor aktivieren. Mit dem Monitor kann man sich Werte und Meldungen anzeigen lassen.
// CodeRacer initialisieren
coderacer.begin();
coderacer.servo_set_to_left();
delay(10);
coderacer.servo_set_to_right();
delay(10);
coderacer.servo_set_to_center();
anzahl_drehung = 0;
drehung = links;
coderacer.set_syncstop(true);
coderacer.set_obstacle_stop(false);
}
//---- 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 loop2()
{
coderacer.drive_distance_mm(1000, 1000);
bool started = false;
while(coderacer.start_stop()== 1)
{
if(false == started)
{
started = true;
wait_ms(1000);
}
// below - mitteln
coderacer.stop_driving();
unsigned int in_min_left = get_inmin(true);
wait_ms(1000); // do not use delay() this will create problems with interrupt routines! use the wait_ms() instead !!!!
unsigned int in_min_right = get_inmin(false);
Serial.printf("left in_min: %u right in_min: %u \n", in_min_left, in_min_right);
wait_ms(1000);
calculate_veliocity(in_min_left, in_min_right, &fSpeedminleft, &fSpeedminright);
wait_ms(1000);
calculate_veliocity(IN_MAX, IN_MAX, &fSpeedmaxleft, &fSpeedmaxright);
Serial.printf("Left vmin:%f vmax:%f Right vmin:%f vmax: %f\n", fSpeedminleft, fSpeedmaxleft, fSpeedminright, fSpeedmaxright);
//above - mitteln
float nLeft= (fSpeedmaxleft- fSpeedminleft)/(IN_MAX- in_min_left);
float mLeft= fSpeedmaxleft-nLeft*IN_MAX;
float nRight= (fSpeedmaxright- fSpeedminright)/(IN_MAX- in_min_right);
float mRight= fSpeedmaxright-nRight*IN_MAX;
Serial.printf(" nleft: %f mleft:%f nright:%f mright:%f\n", nLeft, mLeft, nRight, mRight);
wait_ms(5000);
unsigned int vracer = 35;
unsigned int inleft = (vracer - mLeft)/nLeft;
unsigned int inright = (vracer - mRight)/nRight;
Serial.printf("inleft: %u inright:%u\n", inleft, inright);
coderacer.speed_settings(inleft, inright);
unsigned int lticks = coderacer.show_left_stepcounter();
unsigned int rticks = coderacer.show_right_stepcounter();
coderacer.drive_ticks(100,100);
while(coderacer.is_driving()){}
rticks = coderacer.show_right_stepcounter() - rticks;
lticks = coderacer.show_left_stepcounter() - lticks;
Serial.printf("Cal. Steps left: %u right: %u \n", lticks, rticks);
wait_ms(1000);
coderacer.speed_settings(inleft, inleft);
lticks = coderacer.show_left_stepcounter();
rticks = coderacer.show_right_stepcounter();
coderacer.drive_ticks(100,100);
while(coderacer.is_driving()){}
rticks = coderacer.show_right_stepcounter() - rticks;
lticks = coderacer.show_left_stepcounter() - lticks;
Serial.printf("Uncal.Steps left: %u right: %u \n", lticks, rticks);
wait_ms(1000);
coderacer.set_inactive();
}
}
unsigned int get_inmin(bool left_notright )
{
unsigned int steps_before_driving = getcount_function(left_notright);
//Serial.printf("Steps before driving: %u \n", steps_before_driving );
for(unsigned int pwm_in = 0; pwm_in < 255; pwm_in = pwm_in+5)
{
unsigned int steps_after_driving = getcount_function(left_notright);
if(steps_after_driving > steps_before_driving)
{
//Serial.printf("Steps after driving: %u \n", steps_after_driving );
coderacer.stop_driving();
return pwm_in*1.1;
}
set_speed_function(left_notright, pwm_in);
wait_ms(100);
}
coderacer.stop_driving();
return 0 ;
}
unsigned int getcount_function(bool left_notright)
{
if(true == left_notright){return coderacer.show_left_stepcounter();}
else{return coderacer.show_right_stepcounter();}
}
void set_speed_function(bool left_notright, unsigned int speed)
{
if(true == left_notright){coderacer.drive_forward(speed,0);}
else{coderacer.drive_forward(0,speed);}
}
void calculate_veliocity(unsigned int inleft, unsigned int inright, float* vleft, float* vright)
{
coderacer.speed_settings(inleft, inright);
coderacer.set_left_start_time();
coderacer.set_right_start_time();
unsigned int iStepsbefore_left = coderacer.show_left_stepcounter();
unsigned int iStepsbefore_right = coderacer.show_right_stepcounter();
coderacer.drive_ticks(iTicks, iTicks);
while(coderacer.is_driving()){};
unsigned int iStepsafter_left = coderacer.show_left_stepcounter();
unsigned int iStepsafter_right = coderacer.show_right_stepcounter();
unsigned int iDifferenz_left = iStepsafter_left - iStepsbefore_left-1;
unsigned int iDifferenz_right = iStepsafter_right - iStepsbefore_right-1;
Serial.printf("Schritte before left: %u right: %u Steps after left:%u right:%u Steps diff left: %u right %u\n", iStepsbefore_left , iStepsbefore_right, iStepsafter_left, iStepsafter_right, iDifferenz_left, iDifferenz_right);
unsigned long lzeit_left = coderacer.show_left_time_of_last_tick()- coderacer.show_left_start_time();
unsigned long lzeit_right = coderacer.show_right_time_of_last_tick()- coderacer.show_right_start_time();
//Serial.printf("Links Startzeit:%lu Endzeit:%lu Runtime:%lu\n", coderacer.show_left_start_time(),coderacer.show_left_time_of_last_tick(), lzeit_left);
//Serial.printf("Rechts Startzeit:%lu Endzeit:%lu Runtime:%lu\n", coderacer.show_right_start_time(), coderacer.show_right_time_of_last_tick(), lzeit_right);
float fSpeedleft= iDifferenz_left/((float)lzeit_left/1000.0);
*vleft = fSpeedleft;
float fSpeedright= iDifferenz_right/((float)lzeit_right/1000.0);
*vright = fSpeedright;
//Serial.printf("Speed left: %f right: %f\n" , fSpeedleft, fSpeedright);
}
//Serial.printf("links %i\n", coderacer.show_left_stepcounter());
//Serial.printf("rechts %i\n", coderacer.show_right_stepcounter());
//Serial.printf("%i\n", coderacer.show_distance_mm());
float callibration_drive(unsigned int tickstogo, float calfactor)
{
unsigned int stepsprevl;
unsigned int stepsprevr;
float GesamtSummeR = 0;
float GesamtSummeL=0;
unsigned int runcounter = 0;
int runs= 4;
float MittelSummeR;
float MittelSummeL;
unsigned int tickcheck= tickstogo*1.02;
for(unsigned int v= 190;v<=200;v=v+10)
{
unsigned int vr = v + calfactor*255;
unsigned int vl = v - calfactor*255;
runcounter ++;
coderacer.speed_settings(vl, vr);
Serial.println(vl);
Serial.println(vr);
int SummeR = 0;
int SummeL=0;
for (int i=1; i<=runs; i++)
{
stepsprevl = coderacer.show_left_stepcounter();
stepsprevr = coderacer.show_right_stepcounter();
coderacer.drive_ticks_left(tickstogo, true);
while (1== coderacer.is_driving()){}
delay(1000);
SummeR = SummeR + (coderacer.show_right_stepcounter() - stepsprevr);
SummeL= SummeL +(coderacer.show_left_stepcounter()- stepsprevl);
if (tickcheck<(coderacer.show_left_stepcounter() - stepsprevl))
{
Serial.printf("ERROR: calibration failed");
Serial.printf("links=%i\n" ,coderacer.show_left_stepcounter()- stepsprevl);
return 0;
}
Serial.printf("v=%i links=%i rechts=%i\n" ,v, coderacer.show_left_stepcounter()- stepsprevl, coderacer.show_right_stepcounter() - stepsprevr);
}
GesamtSummeR = GesamtSummeR+ SummeR/4.0;
GesamtSummeL = GesamtSummeL+ SummeL/4.0;
}
MittelSummeR= GesamtSummeR/(float)runcounter;
MittelSummeL= GesamtSummeL/(float)runcounter;
float CalibrationFactor= MittelSummeL/ MittelSummeR;
return CalibrationFactor;
}

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vsode/coderacer_mkII/test/README
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@ -1,11 +0,0 @@
This directory is intended for PIO Unit Testing and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PIO Unit Testing:
- https://docs.platformio.org/page/plus/unit-testing.html

5
vsode/esp32_coderacer/.gitignore vendored
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.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch

67
vsode/esp32_coderacer/.travis.yml
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# Continuous Integration (CI) is the practice, in software
# engineering, of merging all developer working copies with a shared mainline
# several times a day < https://docs.platformio.org/page/ci/index.html >
#
# Documentation:
#
# * Travis CI Embedded Builds with PlatformIO
# < https://docs.travis-ci.com/user/integration/platformio/ >
#
# * PlatformIO integration with Travis CI
# < https://docs.platformio.org/page/ci/travis.html >
#
# * User Guide for `platformio ci` command
# < https://docs.platformio.org/page/userguide/cmd_ci.html >
#
#
# Please choose one of the following templates (proposed below) and uncomment
# it (remove "# " before each line) or use own configuration according to the
# Travis CI documentation (see above).
#
#
# Template #1: General project. Test it using existing `platformio.ini`.
#
# language: python
# python:
# - "2.7"
#
# sudo: false
# cache:
# directories:
# - "~/.platformio"
#
# install:
# - pip install -U platformio
# - platformio update
#
# script:
# - platformio run
#
# Template #2: The project is intended to be used as a library with examples.
#
# language: python
# python:
# - "2.7"
#
# sudo: false
# cache:
# directories:
# - "~/.platformio"
#
# env:
# - PLATFORMIO_CI_SRC=path/to/test/file.c
# - PLATFORMIO_CI_SRC=examples/file.ino
# - PLATFORMIO_CI_SRC=path/to/test/directory
#
# install:
# - pip install -U platformio
# - platformio update
#
# script:
# - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N

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vsode/esp32_coderacer/.vscode/extensions.json vendored
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{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
]
}

39
vsode/esp32_coderacer/include/README
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@ -1,39 +0,0 @@
This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

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vsode/esp32_coderacer/lib/README
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@ -1,46 +0,0 @@
This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into executable file.
The source code of each library should be placed in a an own separate directory
("lib/your_library_name/[here are source files]").
For example, see a structure of the following two libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
and a contents of `src/main.c`:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
PlatformIO Library Dependency Finder will find automatically dependent
libraries scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

15
vsode/esp32_coderacer/platformio.ini
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;PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:esp32dev]
platform = espressif32
board = esp32dev
framework = arduino

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vsode/esp32_coderacer/src/esp32_coderacer.cpp
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#include "CodeRacer.h"
#include <ESP32Servo.h>
#include "esp32-hal-ledc.h"
//----- Werte für den Ultraschallsensor -----
#define US_STOP_ABSTAND_CM 20 // Wenn der gemessene Abstand kleiner ist, hält der CodeRacer an
#define US_MIN_ABSTAND_LI_RE 8 // Wenn der Unterschied zwischen linkem und und rechtem Abstand kleiner ist, dann drehe in dieselbe Richtugn wie vorher weiter
#define MAX_ANZAHL_DREHUNGEN 10 // Wenn der Coderacer sich schon so oft gedreht hat ohne eine Stelle zu finden, wo es Platz gibt - fahren wir mal ein Stück rückwärts ...
//----- Variablen, die wir brauchen um uns Werte zu merken ----
long abstand_vorn_cm, abstand_links_cm, abstand_rechts_cm;
enum drehrichtung {links=0, rechts};
drehrichtung drehung = links;
unsigned int anzahl_drehung = 0;
CodeRacer coderacer;
//---- Hier startet der Code zum Einstellen aller wichtigen Dinge. Setup() wird einmal ausgeführt. ----
void setup() {
// Monitor
Serial.begin(115200); // Serial Monitor aktivieren. Mit dem Monitor kann man sich Werte und Meldungen anzeigen lassen.
// CodeRacer initialisieren
coderacer.begin();
coderacer.servo_links();
delay(10);
coderacer.servo_rechts();
delay(10);
coderacer.servo_mitte();
anzahl_drehung = 0;
drehung = links;
}
//---- 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() {
// Abstand messen -> nach vorn ... um zu sehen, ob was passiert messen wir immer ... auch wenn der Racer nicht fahren soll
abstand_vorn_cm = coderacer.abstand_messen();
// 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_schwenk();
// Ist die Bahn frei?
if(abstand_vorn_cm < US_STOP_ABSTAND_CM){
// Nein! Der Abstand nach vorn ist kleiner als erlaubt!
// Racer anhalten
coderacer.anhalten();
// Nach links schauen!
coderacer.servo_links();
// Abstand messen und merken.
abstand_links_cm = coderacer.abstand_messen();
// Nach rechts schauen!
coderacer.servo_rechts();
// Abstand messen und merken.
abstand_rechts_cm = coderacer.abstand_messen();
// Ist der Abstand links oder rechts groß genug genug?
// 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.rueckwaerts();
delay(300);
coderacer.anhalten();
//noch mal Abstand messen ...
coderacer.servo_links();
// Abstand messen und merken.
abstand_links_cm = coderacer.abstand_messen();
// Nach rechts schauen!
coderacer.servo_rechts();
// Abstand messen und merken.
abstand_rechts_cm = coderacer.abstand_messen();
}
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.links();
coderacer.servo_mitte();
break;
case rechts:
coderacer.links();
coderacer.servo_mitte();
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.vorwaerts();
}
} else {
anzahl_drehung = 0;
}
}

11
vsode/esp32_coderacer/test/README
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This directory is intended for PIO Unit Testing and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PIO Unit Testing:
- https://docs.platformio.org/page/plus/unit-testing.html