diff --git a/ESP32_BLE.aia b/AppInventor/ESP32_BLE.aia similarity index 100% rename from ESP32_BLE.aia rename to AppInventor/ESP32_BLE.aia diff --git a/BLE_uart_coderacer.ino b/Arduino/BLE_uart_coderacer/BLE_uart_coderacer.ino similarity index 100% rename from BLE_uart_coderacer.ino rename to Arduino/BLE_uart_coderacer/BLE_uart_coderacer.ino diff --git a/esp32_coderacer/esp32_coderacer.ino b/Arduino/esp32_coderacer/esp32_coderacer.ino similarity index 100% rename from esp32_coderacer/esp32_coderacer.ino rename to Arduino/esp32_coderacer/esp32_coderacer.ino diff --git a/esp32_coderacer/olderversions/esp32_coderacer.ino b/Arduino/esp32_coderacer/olderversions/esp32_coderacer.ino similarity index 100% rename from esp32_coderacer/olderversions/esp32_coderacer.ino rename to Arduino/esp32_coderacer/olderversions/esp32_coderacer.ino diff --git a/esp32_coderacer/olderversions/esp32_coderacer_analogWrite.ino_ b/Arduino/esp32_coderacer/olderversions/esp32_coderacer_analogWrite.ino_ similarity index 100% rename from esp32_coderacer/olderversions/esp32_coderacer_analogWrite.ino_ rename to Arduino/esp32_coderacer/olderversions/esp32_coderacer_analogWrite.ino_ diff --git a/esp32_coderacer/olderversions/esp32_coderacer_digitalWrite.ino_ b/Arduino/esp32_coderacer/olderversions/esp32_coderacer_digitalWrite.ino_ similarity index 100% rename from esp32_coderacer/olderversions/esp32_coderacer_digitalWrite.ino_ rename to Arduino/esp32_coderacer/olderversions/esp32_coderacer_digitalWrite.ino_ diff --git a/esp32_motor/esp32_motor.ino b/Arduino/esp32_motor/esp32_motor.ino similarity index 100% rename from esp32_motor/esp32_motor.ino rename to Arduino/esp32_motor/esp32_motor.ino diff --git a/esp32_servo/esp32_servo.ino b/Arduino/esp32_servo/esp32_servo.ino similarity index 100% rename from esp32_servo/esp32_servo.ino rename to Arduino/esp32_servo/esp32_servo.ino diff --git a/esp32_servo_sonic/esp32_servo_sonic.ino b/Arduino/esp32_servo_sonic/esp32_servo_sonic.ino similarity index 100% rename from esp32_servo_sonic/esp32_servo_sonic.ino rename to Arduino/esp32_servo_sonic/esp32_servo_sonic.ino diff --git a/esp32_ultra_sonic/esp32_ultra_sonic.ino b/Arduino/esp32_ultra_sonic/esp32_ultra_sonic.ino similarity index 100% rename from esp32_ultra_sonic/esp32_ultra_sonic.ino rename to Arduino/esp32_ultra_sonic/esp32_ultra_sonic.ino diff --git a/libraries/CodeRacer/CodeRacer.cpp b/Arduino/libraries/CodeRacer/CodeRacer.cpp similarity index 100% rename from libraries/CodeRacer/CodeRacer.cpp rename to Arduino/libraries/CodeRacer/CodeRacer.cpp diff --git a/libraries/CodeRacer/CodeRacer.h b/Arduino/libraries/CodeRacer/CodeRacer.h similarity index 100% rename from libraries/CodeRacer/CodeRacer.h rename to Arduino/libraries/CodeRacer/CodeRacer.h diff --git a/libraries/CodeRacer/examples/esp32_coderacer_beispiel/esp32_coderacer_beispiel.ino b/Arduino/libraries/CodeRacer/examples/esp32_coderacer_beispiel/esp32_coderacer_beispiel.ino similarity index 100% rename from libraries/CodeRacer/examples/esp32_coderacer_beispiel/esp32_coderacer_beispiel.ino rename to Arduino/libraries/CodeRacer/examples/esp32_coderacer_beispiel/esp32_coderacer_beispiel.ino diff --git a/libraries/CodeRacer/keywords.txt b/Arduino/libraries/CodeRacer/keywords.txt similarity index 100% rename from libraries/CodeRacer/keywords.txt rename to Arduino/libraries/CodeRacer/keywords.txt diff --git a/BLE_uart_coderacer/BLE_uart_coderacer.ino b/BLE_uart_coderacer/BLE_uart_coderacer.ino deleted file mode 100644 index 4c4a0c0..0000000 --- a/BLE_uart_coderacer/BLE_uart_coderacer.ino +++ /dev/null @@ -1,181 +0,0 @@ -#include - -/* - Video: https://www.youtube.com/watch?v=oCMOYS71NIU - Based on Neil Kolban example for IDF: https://github.com/nkolban/esp32-snippets/blob/master/cpp_utils/tests/BLE%20Tests/SampleNotify.cpp - Ported to Arduino ESP32 by Evandro Copercini - - Create a BLE server that, once we receive a connection, will send periodic notifications. - The service advertises itself as: 6E400001-B5A3-F393-E0A9-E50E24DCCA9E - Has a characteristic of: 6E400002-B5A3-F393-E0A9-E50E24DCCA9E - used for receiving data with "WRITE" - Has a characteristic of: 6E400003-B5A3-F393-E0A9-E50E24DCCA9E - used to send data with "NOTIFY" - - The design of creating the BLE server is: - 1. Create a BLE Server - 2. Create a BLE Service - 3. Create a BLE Characteristic on the Service - 4. Create a BLE Descriptor on the characteristic - 5. Start the service. - 6. Start advertising. - - In this example rxValue is the data received (only accessible inside that function). - And txValue is the data to be sent, in this example just a byte incremented every second. -*/ -#include -#include -#include -#include - - -#define LED_VORWAERTS 26 // Pin an dem die VORWÄRTS LED angeschlossen ist. 'GPIO' muss man weglassen -> also z.B. nicht GPIO88 sondern nur 88. -#define LED_STOP 25 // Pin an dem die STOP LED angeschlossen ist. 'GPIO' muss man weglassen -> also z.B. nicht GPIO88 sondern nur 88. -#define LED_LINKS 27 // Pin an dem die LINKS LED angeschlossen ist. 'GPIO' muss man weglassen -> also z.B. nicht GPIO88 sondern nur 88. -#define LED_RECHTS 33 - -BLECharacteristic *pCharacteristic; -bool deviceConnected = false; -uint8_t txValue = 0; -char CRstatus = 0; - -// See the following for generating UUIDs: -// https://www.uuidgenerator.net/ - -#define SERVICE_UUID "6E400001-B5A3-F393-E0A9-E50E24DCCA9E" // UART service UUID -#define CHARACTERISTIC_UUID_RX "6E400002-B5A3-F393-E0A9-E50E24DCCA9E" -#define CHARACTERISTIC_UUID_TX "6E400003-B5A3-F393-E0A9-E50E24DCCA9E" - - -class MyServerCallbacks: public BLEServerCallbacks { - void onConnect(BLEServer* pServer) { - deviceConnected = true; - }; - - void onDisconnect(BLEServer* pServer) { - deviceConnected = false; - } -}; - -class MyCallbacks: public BLECharacteristicCallbacks { - void onWrite(BLECharacteristic *pCharacteristic) { - std::string rxValue = pCharacteristic->getValue(); - - if (rxValue.length() > 0) { - Serial.println("*********"); - Serial.print("Received Value: "); - for (int i = 0; i < rxValue.length(); i++) - { - - CRstatus = rxValue[i]; - Serial.print(CRstatus); - - }; - - Serial.println(); - Serial.println("*********"); - } - } -}; - -CodeRacer coderacer; - -void setup() { - Serial.begin(115200); - /* - pinMode(LED_VORWAERTS, OUTPUT); // LED Vorwärts ist ein Ausgang - pinMode(LED_STOP, OUTPUT); // LED Stop ist ein Ausgang - pinMode(LED_LINKS, OUTPUT); // LED Links ist ein Ausgang - pinMode(LED_RECHTS, OUTPUT); // LED Rechts ist ein Ausgang - // alle LEDS aus - digitalWrite(LED_VORWAERTS, LOW); - digitalWrite(LED_STOP, LOW); - digitalWrite(LED_LINKS, LOW); - digitalWrite(LED_RECHTS, LOW); - */ - // CodeRacer initialisieren - coderacer.begin(); - coderacer.servo_mitte(); - coderacer.motor_einstellungen(255,255,200,200); - - // Create the BLE Device - BLEDevice::init("UART Service"); - - // Create the BLE Server - BLEServer *pServer = BLEDevice::createServer(); - pServer->setCallbacks(new MyServerCallbacks()); - - // Create the BLE Service - BLEService *pService = pServer->createService(SERVICE_UUID); - - // Create a BLE Characteristic - pCharacteristic = pService->createCharacteristic( - CHARACTERISTIC_UUID_TX, - BLECharacteristic::PROPERTY_NOTIFY - ); - - pCharacteristic->addDescriptor(new BLE2902()); - - BLECharacteristic *pCharacteristic = pService->createCharacteristic( - CHARACTERISTIC_UUID_RX, - BLECharacteristic::PROPERTY_WRITE - ); - - pCharacteristic->setCallbacks(new MyCallbacks()); - - // Start the service - pService->start(); - - // Start advertising - pServer->getAdvertising()->start(); - Serial.println("Waiting a client connection to notify..."); -} - -void loop() { - - - switch (CRstatus) { - case '0': // - Serial.println("STOP"); - //digitalWrite(LED_STOP, HIGH); - coderacer.anhalten(); - break; - case '1': - Serial.println("VOR"); - //digitalWrite(LED_VORWAERTS, HIGH); - coderacer.vorwaerts(); - break; - case '2': - Serial.println("LINKS"); - //digitalWrite(LED_LINKS, HIGH); - coderacer.links_dreh(); - break; - case '3': - Serial.println("RECHTS"); - //digitalWrite(LED_RECHTS, HIGH); - coderacer.rechts_dreh(); - break; - case '4': - Serial.println("ZURUECK"); // hier gibt es keine LED - coderacer.rueckwaerts(); - break; - //default: - //Serial.println("Kommando unbekannt"); - - } - - - - //if (deviceConnected) { - // Serial.printf("*** Sent Value: %d ***\n", txValue); - // pCharacteristic->setValue(&txValue, 1); - // pCharacteristic->notify(); - // txValue++; - //} - delay(100); - - /* - digitalWrite(LED_VORWAERTS, LOW); - digitalWrite(LED_STOP, LOW); - digitalWrite(LED_LINKS, LOW); - digitalWrite(LED_RECHTS, LOW); - */ -} diff --git a/Coderace/coderace_09_2018.xlsm b/Coderace_Murnau2018/coderace_09_2018.xlsm similarity index 100% rename from Coderace/coderace_09_2018.xlsm rename to Coderace_Murnau2018/coderace_09_2018.xlsm diff --git a/Coderace/coderace_09_2018.xlsx b/Coderace_Murnau2018/coderace_09_2018.xlsx similarity index 100% rename from Coderace/coderace_09_2018.xlsx rename to 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b/Doku/Doxygen/html/coderace_logo.JPG new file mode 100644 index 0000000..0b58ee1 Binary files /dev/null and b/Doku/Doxygen/html/coderace_logo.JPG differ diff --git a/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.html b/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.html new file mode 100644 index 0000000..51317f8 --- /dev/null +++ b/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.html @@ -0,0 +1,157 @@ + + + + + + + +Arduino {code}racer API: Getters + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions
+
+
Getters
Lower level drives methods and getters
+
+
+ + + + + + + + +

+Functions

uint8_t CodeRacer::drive_right_speed ()
 Get the setting for the speed of the right side drive. More...
 
uint8_t CodeRacer::drive_left_speed ()
 Get the setting for the speed of the left side drive. More...
 
+

Detailed Description

+

Function Documentation

+ +

◆ drive_right_speed()

+ +
+
+ + + + + + + +
uint8_t CodeRacer::drive_right_speed ()
+
+ +

Get the setting for the speed of the right side drive.

+
Returns
Speed of the right side drive
+ +

Definition at line 994 of file CodeRacer.cpp.

+
994  {
995  return _drive_right_speed;
996 }
+
+
+ +

◆ drive_left_speed()

+ +
+
+ + + + + + + +
uint8_t CodeRacer::drive_left_speed ()
+
+ +

Get the setting for the speed of the left side drive.

+
Returns
Speed of the left side drive
+ +

Definition at line 1001 of file CodeRacer.cpp.

+
1001  {
1002  return(_drive_left_speed);
1003 }
+
+
+
+
+ + + + diff --git a/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.js b/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.js new file mode 100644 index 0000000..7b830a1 --- /dev/null +++ b/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.js @@ -0,0 +1,5 @@ +var group__lowerleveldrivesgetters = +[ + [ "drive_right_speed", "d0/d0a/group__lowerleveldrivesgetters.html#ga09359a792e3299b1c20f6b99939ea7b3", null ], + [ "drive_left_speed", "d0/d0a/group__lowerleveldrivesgetters.html#ga804a45724f3788fd2fdb9631c66d1377", null ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.map b/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.map new file mode 100644 index 0000000..cfb1656 --- /dev/null +++ b/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.map @@ -0,0 +1,3 @@ + + + diff --git a/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.md5 b/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.md5 new file mode 100644 index 0000000..88a8697 --- /dev/null +++ b/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.md5 @@ -0,0 +1 @@ +27209861500fd81db6dccdd2984f5d4a \ No newline at end of file diff --git a/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.png b/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.png new file mode 100644 index 0000000..9a59f9c Binary files /dev/null and b/Doku/Doxygen/html/d0/d0a/group__lowerleveldrivesgetters.png differ diff --git a/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.html b/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.html new file mode 100644 index 0000000..719ef68 --- /dev/null +++ b/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.html @@ -0,0 +1,496 @@ + + + + + + + +Arduino {code}racer API: Methods + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions
+
+
Methods
Lower level drives methods and getters
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Functions

void CodeRacer::drives_settings (uint8_t drive_left_speed, uint8_t drive_right_speed, unsigned long turn_left_ms, unsigned long turn_right_ms)
 Overwrites some drive settings. This will replace the defaults set by the values in the header file. More...
 
void CodeRacer::set_drives_stop_left_right ()
 Stopps both drives. More...
 
void CodeRacer::set_drives_states_left_right (drivestate stateleft, drivestate stateright)
 Sets both of the drives to a specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK) More...
 
void CodeRacer::set_drive_left_state (drivestate state)
 Sets the left side drive to the specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK) More...
 
void CodeRacer::set_drive_right_state (drivestate state)
 Sets the right side drive to the specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK) More...
 
void CodeRacer::set_drive_state (drivestate state, uint8_t frwdpin, uint8_t backpin)
 Sets the specified drivestate for the drive connected to the sepecified pins (DRIVESTOP, DRIVEFRWD, DRIVEBACK) More...
 
void CodeRacer::set_drives_speed_left_right (uint8_t speedleft, uint8_t speedright)
 Sets the speed for both of the drives. More...
 
void CodeRacer::set_drive_left_speed (uint8_t speed)
 Sets the speed for the left side drive. More...
 
void CodeRacer::set_drive_right_speed (uint8_t speed)
 Sets the speed for the right side drive. More...
 
void CodeRacer::set_drive_speed (uint8_t speed, uint8_t enablepin)
 Sets the speed for the drive of the enable pin connected to the specified pin. More...
 
+

Detailed Description

+

Function Documentation

+ +

◆ drives_settings()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void CodeRacer::drives_settings (uint8_t drive_left_speed,
uint8_t drive_right_speed,
unsigned long turn_left_for_ms,
unsigned long turn_right_for_ms 
)
+
+ +

Overwrites some drive settings. This will replace the defaults set by the values in the header file.

+
Parameters
+ + + + + +
drive_left_speedSpeed of the left side drive
drive_right_speedSpeed of the right side drive
turn_left_for_msTime in ms the racer will turn to the left around its center if turn_left() is called
turn_right_for_msTime in ms the racer will turn to the right around its center if turn_right() is called
+
+
+
Returns
nothing
+ +

Definition at line 878 of file CodeRacer.cpp.

+
879 {
880  _drive_left_speed = drive_left_speed;
881  _drive_right_speed = drive_right_speed;
882  _turn_left_for_ms = turn_left_for_ms;
883  _turn_right_for_ms = turn_right_for_ms;
884 }
+
+
+ +

◆ set_drives_stop_left_right()

+ +
+
+ + + + + + + +
void CodeRacer::set_drives_stop_left_right ()
+
+ +

Stopps both drives.

+
Returns
nothing
+ +

Definition at line 889 of file CodeRacer.cpp.

+
889  {
890  set_drive_left_state(DRIVESTOP);
891  set_drive_right_state(DRIVESTOP);
892 }
+
+
+ +

◆ set_drives_states_left_right()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void CodeRacer::set_drives_states_left_right (drivestate stateleft,
drivestate stateright 
)
+
+ +

Sets both of the drives to a specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK)

+
Parameters
+ + + +
stateleftdrivestate to set for the left side drive
staterightdrivestate to set for the right side drive
+
+
+
Returns
nothing
+ +

Definition at line 899 of file CodeRacer.cpp.

+
899  {
900  set_drive_left_state(stateleft);
901  set_drive_right_state(stateright);
902 }
+
+
+ +

◆ set_drive_left_state()

+ +
+
+ + + + + + + + +
void CodeRacer::set_drive_left_state (drivestate state)
+
+ +

Sets the left side drive to the specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK)

+
Parameters
+ + +
statedrivestate to set for the left side drive
+
+
+
Returns
nothing
+ +

Definition at line 908 of file CodeRacer.cpp.

+
908  {
909  set_drive_state(state, _drive_left_frwd_pin, _drive_left_back_pin);
910 }
+
+
+ +

◆ set_drive_right_state()

+ +
+
+ + + + + + + + +
void CodeRacer::set_drive_right_state (drivestate state)
+
+ +

Sets the right side drive to the specified drivestate (DRIVESTOP, DRIVEFRWD, DRIVEBACK)

+
Parameters
+ + +
statedrivestate to set for the right side drive
+
+
+
Returns
nothing
+ +

Definition at line 916 of file CodeRacer.cpp.

+
916  {
917  set_drive_state(state, _drive_right_frwd_pin, _drive_right_back_pin);
918 }
+
+
+ +

◆ set_drive_state()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
void CodeRacer::set_drive_state (drivestate state,
uint8_t frwdpin,
uint8_t backpin 
)
+
+ +

Sets the specified drivestate for the drive connected to the sepecified pins (DRIVESTOP, DRIVEFRWD, DRIVEBACK)

+
Parameters
+ + + + +
statedrivestate to set for the connected drive
frwdpinPin the forward signal of the drive device driver is connected at
backpinPin the backward signal of the drive device driver is connected at
+
+
+
Returns
nothing
+ +

Definition at line 926 of file CodeRacer.cpp.

+
926  {
927  switch (state) {
928  case DRIVESTOP:
929  digitalWrite(frwdpin, LOW);
930  digitalWrite(backpin, LOW);
931  break;
932  case DRIVEFRWD:
933  digitalWrite(frwdpin, HIGH);
934  digitalWrite(backpin, LOW);
935  break;
936  case DRIVEBACK:
937  digitalWrite(frwdpin, LOW);
938  digitalWrite(backpin, HIGH);
939  break;
940  }
941 }
+
+
+ +

◆ set_drives_speed_left_right()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void CodeRacer::set_drives_speed_left_right (uint8_t speedleft,
uint8_t speedright 
)
+
+ +

Sets the speed for both of the drives.

+

The drive will run with that speed afterwards. The direction of the drive has to be specfied with one of the set_drive_state methods before

Parameters
+ + + +
speedleftspeed of the left side drive. 0<=speed<=255
speedrightspeed of the right side drive. 0<=speed<=255
+
+
+
Returns
nothing
+ +

Definition at line 950 of file CodeRacer.cpp.

+
950  {
951  set_drive_left_speed(speedleft);
952  set_drive_right_speed(speedright);
953 }
+
+
+ +

◆ set_drive_left_speed()

+ +
+
+ + + + + + + + +
void CodeRacer::set_drive_left_speed (uint8_t speed)
+
+ +

Sets the speed for the left side drive.

+

The drive will run with that speed afterwards. The direction of the drive has to be specfied with one of the set_drive_state methods before

Parameters
+ + +
speedspeed of the left side drive. 0<=speed<=255
+
+
+
Returns
nothing
+ +

Definition at line 961 of file CodeRacer.cpp.

+
961  {
962  set_drive_speed(speed, _drive_left_enable_pin);
963 }
+
+
+ +

◆ set_drive_right_speed()

+ +
+
+ + + + + + + + +
void CodeRacer::set_drive_right_speed (uint8_t speed)
+
+ +

Sets the speed for the right side drive.

+

The drive will run with that speed afterwards. The direction of the drive has to be specfied with one of the set_drive_state methods before

Parameters
+ + +
speedspeed of the right side drive. 0<=speed<=255
+
+
+
Returns
nothing
+ +

Definition at line 971 of file CodeRacer.cpp.

+
971  {
972  set_drive_speed(speed, _drive_right_enable_pin);
973 }
+
+
+ +

◆ set_drive_speed()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void CodeRacer::set_drive_speed (uint8_t speed,
uint8_t enablepin 
)
+
+ +

Sets the speed for the drive of the enable pin connected to the specified pin.

+

The drive will run with that speed afterwards. The direction of the drive has to be specfied with one of the set_drive_state methods before

Parameters
+ + + +
speedspeed of the drive. 0<=speed<=255
enablepinPin the drives device driver enable pin is connected at
+
+
+
Returns
nothing
+ +

Definition at line 982 of file CodeRacer.cpp.

+
982  {
983  _analog_write(enablepin, (int)speed);
984 }
+
+
+
+
+ + + + diff --git a/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.js b/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.js new file mode 100644 index 0000000..5e1597f --- /dev/null +++ b/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.js @@ -0,0 +1,13 @@ +var group__lowerleveldrivesmeths = +[ + [ "drives_settings", "d1/d8a/group__lowerleveldrivesmeths.html#ga5812df751da5b480240ccd633c515b83", null ], + [ "set_drives_stop_left_right", "d1/d8a/group__lowerleveldrivesmeths.html#ga61ed9e0415a62a290cc5c59a0f740304", null ], + [ "set_drives_states_left_right", "d1/d8a/group__lowerleveldrivesmeths.html#ga802d2646d9cc0d766e1ac799c7917fa8", null ], + [ "set_drive_left_state", "d1/d8a/group__lowerleveldrivesmeths.html#ga1eeb3cb47503c3011562f9c42828fab9", null ], + [ "set_drive_right_state", "d1/d8a/group__lowerleveldrivesmeths.html#ga1b34ec9cee1f21cd15db310167a2faa5", null ], + [ "set_drive_state", "d1/d8a/group__lowerleveldrivesmeths.html#ga3b69cf4a718c842fbe758d3f4267214e", null ], + [ "set_drives_speed_left_right", "d1/d8a/group__lowerleveldrivesmeths.html#ga3d3ffb41783d34589e33cf61fed46c70", null ], + [ "set_drive_left_speed", "d1/d8a/group__lowerleveldrivesmeths.html#ga1ee3da20ec98a821ab97ced070974861", null ], + [ "set_drive_right_speed", "d1/d8a/group__lowerleveldrivesmeths.html#gaf8805d0d620a2fb78c576f36a2c81073", null ], + [ "set_drive_speed", "d1/d8a/group__lowerleveldrivesmeths.html#ga5d67c84606d5b39996a99fcd6e7eb314", null ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.map b/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.map new file mode 100644 index 0000000..14dbabc --- /dev/null +++ b/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.map @@ -0,0 +1,3 @@ + + + diff --git a/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.md5 b/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.md5 new file mode 100644 index 0000000..1c53b05 --- /dev/null +++ b/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.md5 @@ -0,0 +1 @@ +f031a65379fe10c49a2f5864707d7064 \ No newline at end of file diff --git a/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.png b/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.png new file mode 100644 index 0000000..44ef0c1 Binary files /dev/null and b/Doku/Doxygen/html/d1/d8a/group__lowerleveldrivesmeths.png differ diff --git a/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.html b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.html new file mode 100644 index 0000000..839f00b --- /dev/null +++ b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.html @@ -0,0 +1,595 @@ + + + + + + + +Arduino {code}racer API: Methods + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions
+
+
Methods
Higher level methods, setters and getters
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Functions

void CodeRacer::stop_driving ()
 Stops the racer and sets status LEDs. More...
 
void CodeRacer::drive_forward ()
 Sets the speed and the directions of both drives so that it will move forward. More...
 
void CodeRacer::drive_forward (uint8_t left_speed, uint8_t right_speed)
 Sets the speed as specified for both drives and the directions of both drives so that it will move forward. More...
 
void CodeRacer::drive_backward ()
 Sets the speed and the directions of both drives so that it will move backward. More...
 
void CodeRacer::drive_backward (uint8_t left_speed, uint8_t right_speed)
 Sets the speed as specified for both drives and the directions of both drives so that it will move backward. More...
 
void CodeRacer::turn_left ()
 Will turn the racer to the left for the internally stroe time in ms and with the internally stored speed. More...
 
void CodeRacer::turn_left (unsigned long turn_for_ms)
 Will turn the racer to the left for the specified time in ms and with the internally stored speed. More...
 
void CodeRacer::turn_left (unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed)
 Will turn the racer to the left for the specified time in ms and with the specified speed. More...
 
void CodeRacer::turn_right ()
 Will turn the racer to the right for the internally stroe time in ms and with the internally stored speed. More...
 
void CodeRacer::turn_right (unsigned long turn_for_ms)
 Will turn the racer to the right for the specified time in ms and with the internally stored speed. More...
 
void CodeRacer::turn_right (unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed)
 Will turn the racer to the right for the specified time in ms and with the specified speed. More...
 
void CodeRacer::start_stop_at_min_distance ()
 Enables to stopp the racer if during a distance measurement the measured distance is smaller then the internally stored minimal distance. More...
 
void CodeRacer::start_stop_at_min_distance (unsigned long min_distance_cm)
 Enables to stopp the racer if during a distance measurement the measured distance is smaller then the specified minimal distance. More...
 
void CodeRacer::stop_stop_at_min_distance ()
 Disables to stopp the racer if during a distance measurement the measured distance is smaller then the specified minimal distance. More...
 
bool CodeRacer::start_stop ()
 This will return if the codracer is in active mode or not. More...
 
+

Detailed Description

+

Function Documentation

+ +

◆ stop_driving()

+ +
+
+ + + + + + + +
void CodeRacer::stop_driving ()
+
+ +

Stops the racer and sets status LEDs.

+
Returns
nothing
+ +

Definition at line 161 of file CodeRacer.cpp.

+
161  {
162  _servo_sweep = false;
163  _drive = false;
164  set_drives_stop_left_right();
165  set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDOFF, LEDOFF);
166 }
+
+
+ +

◆ drive_forward() [1/2]

+ +
+
+ + + + + + + +
void CodeRacer::drive_forward ()
+
+ +

Sets the speed and the directions of both drives so that it will move forward.

+

The speed is taken from the header file or set by one of the methods defined in the lower level drive methods section

Returns
nothing
+ +

Definition at line 173 of file CodeRacer.cpp.

+
174 {
175  drive_forward(_drive_left_speed, _drive_right_speed);
176 }
+Here is the call graph for this function:
+
+
+
+ +
+
+ +

◆ drive_forward() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
void CodeRacer::drive_forward (uint8_t left_speed,
uint8_t right_speed 
)
+
+ +

Sets the speed as specified for both drives and the directions of both drives so that it will move forward.

+

The specified speed values for both drives will be stored internaly so next time if you use e.g. drive_forward() exactly the here specified values will be taken.

Parameters
+ + + +
left_speedspeed for the left side drive. 0<=speed<=255
right_speedspeed for the right side drive. 0<=speed<=255
+
+
+
Returns
nothing
+ +

Definition at line 185 of file CodeRacer.cpp.

+
186 {
187  set_drives_states_left_right(DRIVEFRWD, DRIVEFRWD);
188  set_drives_speed_left_right(left_speed, right_speed);
189  set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF);
190  _drive = true;
191  _drive_set_at_ms = millis();
192 }
+
+
+ +

◆ drive_backward() [1/2]

+ +
+
+ + + + + + + +
void CodeRacer::drive_backward ()
+
+ +

Sets the speed and the directions of both drives so that it will move backward.

+

The speed is taken from the header file or set by one of the methods defined in the lower level drive methods section

Returns
nothing
+ +

Definition at line 199 of file CodeRacer.cpp.

+
200 {
201  drive_backward(_drive_left_speed, _drive_right_speed);
202 }
+
+
+ +

◆ drive_backward() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
void CodeRacer::drive_backward (uint8_t left_speed,
uint8_t right_speed 
)
+
+ +

Sets the speed as specified for both drives and the directions of both drives so that it will move backward.

+

The specified speed values for both drives will be stored internaly so next time if you use e.g. drive_backward() exactly the here specified values will be taken.

Parameters
+ + + +
left_speedspeed for the left side drive. 0<=speed<=255
right_speedspeed for the right side drive. 0<=speed<=255
+
+
+
Returns
nothing
+ +

Definition at line 211 of file CodeRacer.cpp.

+
212 {
213  set_drives_states_left_right(DRIVEBACK, DRIVEBACK);
214  set_drives_speed_left_right(left_speed, right_speed);
215  set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDON, LEDOFF);
216  _drive = true;
217  _drive_set_at_ms = millis();
218 }
+
+
+ +

◆ turn_left() [1/3]

+ +
+
+ + + + + + + +
void CodeRacer::turn_left ()
+
+ +

Will turn the racer to the left for the internally stroe time in ms and with the internally stored speed.

+

The speed for both the left side and right side drive can be set by the methods described in the lower level drive section. The turn to left time can be set by thoose methods as well. The method is delayed until the racer has turned.

Returns
nothing
+ +

Definition at line 226 of file CodeRacer.cpp.

+
227 {
228  turn_left(_turn_left_for_ms, _drive_left_speed, _drive_right_speed);
229 }
+
+
+ +

◆ turn_left() [2/3]

+ +
+
+ + + + + + + + +
void CodeRacer::turn_left (unsigned long turn_for_ms)
+
+ +

Will turn the racer to the left for the specified time in ms and with the internally stored speed.

+

The specified duration of time is stored internally and will be used next time by e.g. turn_left()

Parameters
+ + +
turn_for_msduration of time in ms to turn the racer
+
+
+
Returns
nothing
+ +

Definition at line 237 of file CodeRacer.cpp.

+
238 {
239  turn_left(turn_for_ms, _drive_left_speed, _drive_right_speed);
240 }
+
+
+ +

◆ turn_left() [3/3]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
void CodeRacer::turn_left (unsigned long turn_for_ms,
uint8_t left_speed,
uint8_t right_speed 
)
+
+ +

Will turn the racer to the left for the specified time in ms and with the specified speed.

+

The specified duration of time and the specified speeds are stored internally and will be used next time by e.g. turn_left()

Parameters
+ + + + +
turn_for_msduration of time in ms to turn the racer
left_speedspeed for the left side drive
right_speedspeed for the right side drive
+
+
+
Returns
nothing
+ +

Definition at line 250 of file CodeRacer.cpp.

+
251 {
252  _drive = false;
253  set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF); // LEDs setzen
254  set_drives_states_left_right(DRIVEBACK, DRIVEFRWD);
255  set_drives_speed_left_right(left_speed, right_speed);
256  // wait set delay for the timed turn
257  _turn_left_for_ms = turn_for_ms;
258  delay(_turn_left_for_ms);
259  // stop drives again
260  set_drives_stop_left_right();
261 }
+
+
+ +

◆ turn_right() [1/3]

+ +
+
+ + + + + + + +
void CodeRacer::turn_right ()
+
+ +

Will turn the racer to the right for the internally stroe time in ms and with the internally stored speed.

+

The speed for both the left side and right side drive can be set by the methods described in the lower level drive section. The turn to right time can be set by thoose methods as well. The method is delayed until the racer has turned.

Returns
nothing
+ +

Definition at line 269 of file CodeRacer.cpp.

+
270 {
271  turn_right(_turn_right_for_ms, _drive_left_speed, _drive_right_speed);
272 }
+
+
+ +

◆ turn_right() [2/3]

+ +
+
+ + + + + + + + +
void CodeRacer::turn_right (unsigned long turn_for_ms)
+
+ +

Will turn the racer to the right for the specified time in ms and with the internally stored speed.

+

The specified duration of time is stored internally and will be used next time by e.g. turn_right()

Parameters
+ + +
turn_for_msduration of time in ms to turn the racer
+
+
+
Returns
nothing
+ +

Definition at line 280 of file CodeRacer.cpp.

+
281 {
282  turn_right(turn_for_ms, _drive_left_speed, _drive_right_speed);
283 }
+
+
+ +

◆ turn_right() [3/3]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
void CodeRacer::turn_right (unsigned long turn_for_ms,
uint8_t left_speed,
uint8_t right_speed 
)
+
+ +

Will turn the racer to the right for the specified time in ms and with the specified speed.

+

The specified duration of time and the specified speeds are stored internally and will be used next time by e.g. turn_right()

Parameters
+ + + + +
turn_for_msduration of time in ms to turn the racer
left_speedspeed for the left side drive
right_speedspeed for the right side drive
+
+
+
Returns
nothing
+ +

Definition at line 293 of file CodeRacer.cpp.

+
294 {
295  _drive = false;
296  set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDON); // LEDs setzen
297  set_drives_states_left_right(DRIVEFRWD, DRIVEBACK);
298  set_drives_speed_left_right(left_speed, right_speed);
299  // wait set delay for the timed turn
300  _turn_right_for_ms = turn_for_ms;
301  delay(_turn_right_for_ms);
302  // stop drives again
303  set_drives_stop_left_right();
304 }
+
+
+ +

◆ start_stop_at_min_distance() [1/2]

+ +
+
+ + + + + + + +
void CodeRacer::start_stop_at_min_distance ()
+
+ +

Enables to stopp the racer if during a distance measurement the measured distance is smaller then the internally stored minimal distance.

+

This allow all of the none-single shot ultra sonic measurement methods to stopp the racer in the case the measured distance is smaller than minimal distance. This is just the enablement - you have to call one of the none-single-shot ultra sonic measurement methods continously while driving and maybe sweeping the servo. If the racer was stopped can be checked with stopped_at_min_distance() - it will return true in that case. The minimal distance can be set by the ultrasonic sensor setter methods. There is an example coming with the coderacer libary that you can load and get an idea how that works.

Returns
nothing
+ +

Definition at line 314 of file CodeRacer.cpp.

+
314  {
315  start_stop_at_min_distance(_usonic_stop_distance_cm);
316 }
+
+
+ +

◆ start_stop_at_min_distance() [2/2]

+ +
+
+ + + + + + + + +
void CodeRacer::start_stop_at_min_distance (unsigned long min_distance_cm)
+
+ +

Enables to stopp the racer if during a distance measurement the measured distance is smaller then the specified minimal distance.

+

This is almos the same as described for start_stop_at_min_distance(). You can specify the distance in cm here - this value will be stored internally and used by start_stop_at_min_distance() next time.

Parameters
+ + +
min_distance_cmthe minimal disctance in cm
+
+
+
Returns
nothing
+ +

Definition at line 324 of file CodeRacer.cpp.

+
324  {
325  if (false == _coderacer_stop_at_distance_enabled) {
326  _coderacer_stopped_at_min_distance = false;
327  usonic_set_stop_distance_cm(min_distance_cm);
328  _coderacer_stop_at_distance_enabled = true;
329  }
330 }
+
+
+ +

◆ stop_stop_at_min_distance()

+ +
+
+ + + + + + + +
void CodeRacer::stop_stop_at_min_distance ()
+
+ +

Disables to stopp the racer if during a distance measurement the measured distance is smaller then the specified minimal distance.

+
Returns
nothing
+ +

Definition at line 335 of file CodeRacer.cpp.

+
335  {
336  _coderacer_stop_at_distance_enabled = false;
337 }
+
+
+ +

◆ start_stop()

+ +
+
+ + + + + + + +
bool CodeRacer::start_stop ()
+
+ +

This will return if the codracer is in active mode or not.

+

There is a button used to toogle between active and inactive each time it is pressed This may help you to start driving and scanning the distance by pressing the button - and as well to stop the racer by pressing the button. This method will set the LEDs depending on the mode and sets the servo back to center and stopps the racer when leaving the active mode. You can leave or enter the active mode as well by setting using set_active() and set_inactive(). The button itself triggers and internall interrupt event and sets the active state - but you have to continously call that method to switch between inactive and active mode depending on the active state. If in inactive mode and fun is enabeld by just setting the coderacer_fun_enabled = true ... some fun will happen :-)

+
Returns
True if the coderacer is in active mode. False if in inactive mode.
+ +

Definition at line 348 of file CodeRacer.cpp.

+
348  {
349  if (_coderracer_activ != coderracer_activ) {
350  _coderracer_activ = coderracer_activ;
351  if (true == _coderracer_activ) {
352  set_leds_all_off();
353  delay(500);
354  }
355  else {
356  stop_driving();
357  set_leds_all_on();
358  delay(200);
359  servo_set_to_center();
360  _servo_look_around_at_ms = millis() + random(20000, 120000);
361  }
362  }
363 
364  if ((false == _coderracer_activ) && (true == coderacer_fun_enabled)) {
365  kitt();
366  look_around();
367  }
368 
369  return(_coderracer_activ);
370 }
+
+
+
+
+ + + + diff --git a/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.js b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.js new file mode 100644 index 0000000..4107571 --- /dev/null +++ b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.js @@ -0,0 +1,18 @@ +var group__higherlevelmeths = +[ + [ "stop_driving", "d2/d40/group__higherlevelmeths.html#ga71df7ac5e41ae776a6c786d3dc36f35a", null ], + [ "drive_forward", "d2/d40/group__higherlevelmeths.html#ga8be6a850099812153dcf5768d7fc8b8c", null ], + [ "drive_forward", "d2/d40/group__higherlevelmeths.html#gaae6fc379ec43cbe2cb2f63fbd12dbe0d", null ], + [ "drive_backward", "d2/d40/group__higherlevelmeths.html#ga98aa8a5a46f769d59e6c1067c8418cfb", null ], + [ "drive_backward", "d2/d40/group__higherlevelmeths.html#ga6cd8356ac76360b014db6170276b6b30", null ], + [ "turn_left", "d2/d40/group__higherlevelmeths.html#ga86b7caf6ff46e9d1ad90ed507864b175", null ], + [ "turn_left", "d2/d40/group__higherlevelmeths.html#ga30e1ec3fbbc206f93ea66dbf91b5fd95", null ], + [ "turn_left", "d2/d40/group__higherlevelmeths.html#gae6daa587199e5bf95b1aac675de53b0e", null ], + [ "turn_right", "d2/d40/group__higherlevelmeths.html#ga8969fb2d6e2b5ac44a99197931e6b8da", null ], + [ "turn_right", "d2/d40/group__higherlevelmeths.html#gae1f175aad98d773b0206f483ae0bb4ea", null ], + [ "turn_right", "d2/d40/group__higherlevelmeths.html#gad10b3457489cc7e25ffb4d64c539528a", null ], + [ "start_stop_at_min_distance", "d2/d40/group__higherlevelmeths.html#ga128683caea019a89bce06f722ba92556", null ], + [ "start_stop_at_min_distance", "d2/d40/group__higherlevelmeths.html#ga64bc1b2a8ed5bc3ec5e706fa70a1385d", null ], + [ "stop_stop_at_min_distance", "d2/d40/group__higherlevelmeths.html#gac664109241d08b8dc52db5721f394b22", null ], + [ "start_stop", "d2/d40/group__higherlevelmeths.html#ga34e2fe2123e76fd844482dfef6c5a9c8", null ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.map b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.map new file mode 100644 index 0000000..51f5bdc --- /dev/null +++ b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.map @@ -0,0 +1,3 @@ + + + diff --git a/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.md5 b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.md5 new file mode 100644 index 0000000..6cd42f5 --- /dev/null +++ b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.md5 @@ -0,0 +1 @@ +14fcbf5ea95fbca4940db3735dae3e20 \ No newline at end of file diff --git a/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.png b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.png new file mode 100644 index 0000000..1fcdd7c Binary files /dev/null and b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths.png differ diff --git a/Doku/Doxygen/html/d2/d40/group__higherlevelmeths_ga8be6a850099812153dcf5768d7fc8b8c_cgraph.map b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths_ga8be6a850099812153dcf5768d7fc8b8c_cgraph.map new file mode 100644 index 0000000..0d345a1 --- /dev/null +++ b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths_ga8be6a850099812153dcf5768d7fc8b8c_cgraph.map @@ -0,0 +1,2 @@ + + diff --git a/Doku/Doxygen/html/d2/d40/group__higherlevelmeths_ga8be6a850099812153dcf5768d7fc8b8c_cgraph.md5 b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths_ga8be6a850099812153dcf5768d7fc8b8c_cgraph.md5 new file mode 100644 index 0000000..257acdd --- /dev/null +++ b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths_ga8be6a850099812153dcf5768d7fc8b8c_cgraph.md5 @@ -0,0 +1 @@ +88ea8cb2a7473284c7f30fcb34c5462f \ No newline at end of file diff --git a/Doku/Doxygen/html/d2/d40/group__higherlevelmeths_ga8be6a850099812153dcf5768d7fc8b8c_cgraph.png b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths_ga8be6a850099812153dcf5768d7fc8b8c_cgraph.png new file mode 100644 index 0000000..fd01ac4 Binary files /dev/null and b/Doku/Doxygen/html/d2/d40/group__higherlevelmeths_ga8be6a850099812153dcf5768d7fc8b8c_cgraph.png differ diff --git a/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.html b/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.html new file mode 100644 index 0000000..fa5e6a2 --- /dev/null +++ b/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.html @@ -0,0 +1,110 @@ + + + + + + + +Arduino {code}racer API: Lower level servo drive methods and getters + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Modules
+
+
Lower level servo drive methods and getters
+
+
+ + + + + + +

+Modules

 Methods
 
 Getters
 
+

Detailed Description

+
+
+ + + + diff --git a/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.js b/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.js new file mode 100644 index 0000000..09ed28b --- /dev/null +++ b/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.js @@ -0,0 +1,5 @@ +var group__lowerlevelservo = +[ + [ "Methods", "db/dd5/group__lowerlevelservomeths.html", "db/dd5/group__lowerlevelservomeths" ], + [ "Getters", "d4/df4/group__lowerlevelservogetters.html", "d4/df4/group__lowerlevelservogetters" ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.map b/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.map new file mode 100644 index 0000000..1282428 --- /dev/null +++ b/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.map @@ -0,0 +1,4 @@ + + + + diff --git a/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.md5 b/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.md5 new file mode 100644 index 0000000..c2b7c49 --- /dev/null +++ b/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.md5 @@ -0,0 +1 @@ +580a059516c5c4bee6990866828766d5 \ No newline at end of file diff --git a/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.png b/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.png new file mode 100644 index 0000000..517e734 Binary files /dev/null and b/Doku/Doxygen/html/d3/d17/group__lowerlevelservo.png differ diff --git a/Doku/Doxygen/html/d4/da7/_code_racer_8cpp_source.html b/Doku/Doxygen/html/d4/da7/_code_racer_8cpp_source.html new file mode 100644 index 0000000..fd6265e --- /dev/null +++ b/Doku/Doxygen/html/d4/da7/_code_racer_8cpp_source.html @@ -0,0 +1,101 @@ + + + + + + + +Arduino {code}racer API: C:/Users/jnoack/Documents/Arduino/libraries/CodeRacer/CodeRacer.cpp Source File + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
CodeRacer.cpp
+
+
+
1 // the compiler switch for an ESP8266 is looking like this: #elif defined(ARDUINO_ARCH_ESP8266)
2 #include "CodeRacer.h"
3 
7 CodeRacer::CodeRacer()
8 {
9  _button_pin = H_BUTTON_PIN;
10  _servo_pin = H_SERVO_PIN;
11  _us_trigger_pin = H_US_TRIG_PIN;
12  _us_echo_pin = H_US_ECHO_PIN;
13  _drive_left_frwd_pin = H_DRIVE_LEFT_FWRD_PIN;
14  _drive_left_back_pin = H_DRIVE_LEFT_BACK_PIN;
15  _drive_left_enable_pin = H_DRIVE_LEFT_ENABLE_PIN;
16  _drive_right_frwd_pin = H_DRIVE_RIGHT_FWRD_PIN;
17  _drive_right_back_pin = H_DRIVE_RIGHT_BACK_PIN;
18  _drive_right_enable_pin = H_DRIVE_RIGHT_ENABLE_PIN;
19  _led_frwd_pin = H_LED_FRWD_PIN;
20  _led_stop_pin = H_LED_STOP_PIN;
21  _led_left_pin = H_LED_LEFT_PIN;
22  _led_right_pin = H_LED_RIGHT_PIN;
23 }
24 
42 CodeRacer::CodeRacer(uint8_t button_pin , uint8_t servo_pin,
43  uint8_t us_trigger_pin, uint8_t us_echo_pin,
44  uint8_t drive_left_frwd_pin, uint8_t drive_left_back_pin, uint8_t drive_left_enable_pin,
45  uint8_t drive_right_frwd_pin, uint8_t drive_right_back_pin, uint8_t drive_right_enable_pin,
46  uint8_t led_frwd_pin, uint8_t led_stop_pin, uint8_t led_left_pin, uint8_t led_right_pin
47 )
48 {
49  _button_pin = button_pin;
50  _servo_pin = servo_pin;
51  _us_trigger_pin = us_trigger_pin;
52  _us_echo_pin = us_echo_pin;
53  _drive_left_frwd_pin = drive_left_frwd_pin;
54  _drive_left_back_pin = drive_left_back_pin;
55  _drive_left_enable_pin = drive_left_enable_pin;
56  _drive_right_frwd_pin = drive_right_frwd_pin;
57  _drive_right_back_pin = drive_right_back_pin;
58  _drive_right_enable_pin = drive_right_enable_pin;
59  _led_frwd_pin = led_frwd_pin;
60  _led_stop_pin = led_stop_pin;
61  _led_left_pin = led_left_pin;
62  _led_right_pin = led_right_pin;
63 }
64 
68 void CodeRacer::begin() {
69 
70  // init of variables and objects
71 
72  _servo_dummy = new Servo(); // the dummy is needed so far to avoid conflicts with analog write
73  _servo = new Servo();
74  servo_center_pos = H_SERVO_CENTER_POS;
75  servo_left_pos = H_SERVO_LEFT_POS;
76  servo_right_pos = H_SERVO_RIGHT_POS;
77  servo_sweep_left_pos = H_SERVO_SWEEP_LEFT_POS;
78  servo_sweep_right_pos = H_SERVO_SWEEP_RIGHT_POS;
79  _servo_position = servo_center_pos;
80  _servo_sweep_step = SERVO_SWEEP_TO_LEFT_STEP;
81  _servo_position_set_at_ms = millis();
82  _servo_position_eta_in_ms = 0;
83 
84  _drive_left_speed = H_DRIVE_LEFT_SPEED;
85  _drive_right_speed = H_DRIVE_RIGHT_SPEED;
86 
87  _turn_left_for_ms = H_RACER_TURN_LEFT_FOR_MS;
88  _turn_right_for_ms = H_RACER_TURN_RIGHT_FOR_MS;
89 
90  coderracer_activ = false;
91  _coderracer_activ = true;
92  _drive = false;
93  _drive_set_at_ms = millis();
94  _servo_sweep = false;
95 
96  _last_led_switched_at_ms = millis();
97  _last_led_on = 0;
98  _led_count = 3;
99 
100  _servo_look_around_at_ms = millis() + random(FUN_MIN_PAUSE_MS, FUN_MAX_PAUSE_MS);
101 
102  _usonic_stop_distance_cm = H_US_STOP_DISTANCE_CM;
103  usonic_set_stop_distance_cm(_usonic_stop_distance_cm);
104  _coderacer_stopped_at_min_distance = false;
105 
106  // Ultrasonic sensor
107  pinMode(_us_trigger_pin, OUTPUT);
108  pinMode(_us_echo_pin, INPUT);
109 
110  // Servo drive
111  _servo->attach(_servo_pin);
112 
113  // Left drive
114  pinMode(_drive_left_frwd_pin, OUTPUT);
115  pinMode(_drive_left_back_pin, OUTPUT);
116  set_drive_left_state(DRIVESTOP);
117  ledcSetup(DRIVE_PWM_LEFT_CHANNEL, 5000, 8); // channel , 50 Hz, 8-bit width
118  ledcAttachPin(_drive_left_enable_pin, DRIVE_PWM_LEFT_CHANNEL); // connect left drive enable with PWM channel
119 
120  // Right drive
121  pinMode(_drive_right_frwd_pin, OUTPUT);
122  pinMode(_drive_right_back_pin, OUTPUT);
123  set_drive_right_state(DRIVESTOP);
124  ledcSetup(DRIVE_PWM_RIGHT_CHANNEL, 5000, 8); // channel , 50 Hz, 8-bit width
125  ledcAttachPin(_drive_right_enable_pin, DRIVE_PWM_RIGHT_CHANNEL); // connect right drive enable pin with PWM channel
126 
127  // LEDs
128  pinMode(_led_frwd_pin, OUTPUT);
129  pinMode(_led_stop_pin, OUTPUT);
130  pinMode(_led_left_pin, OUTPUT);
131  pinMode(_led_right_pin, OUTPUT);
132  // all LEDS off
133  set_leds_all_off();
134 
135  // Button & -interrupt
136  button_last_pressed_at_ms = 0;
137  pinMode(_button_pin, INPUT_PULLUP);
138  attachInterrupt(digitalPinToInterrupt(_button_pin), _set_button_state, FALLING);
139 
140  // Random
141  randomSeed(analogRead(0));
142 
143  //fun stuff
144  coderacer_fun_enabled = false;
145 
146 }
147 
148 //**************************************
149 //*** Coderacer hihger level methods ***
150 //**************************************
161 void CodeRacer::stop_driving() {
162  _servo_sweep = false;
163  _drive = false;
164  set_drives_stop_left_right();
165  set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDOFF, LEDOFF);
166 }
167 
173 void CodeRacer::drive_forward()
174 {
175  drive_forward(_drive_left_speed, _drive_right_speed);
176 }
177 
185 void CodeRacer::drive_forward(uint8_t left_speed, uint8_t right_speed)
186 {
187  set_drives_states_left_right(DRIVEFRWD, DRIVEFRWD);
188  set_drives_speed_left_right(left_speed, right_speed);
189  set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF);
190  _drive = true;
191  _drive_set_at_ms = millis();
192 }
193 
199 void CodeRacer::drive_backward()
200 {
201  drive_backward(_drive_left_speed, _drive_right_speed);
202 }
203 
211 void CodeRacer::drive_backward(uint8_t left_speed, uint8_t right_speed)
212 {
213  set_drives_states_left_right(DRIVEBACK, DRIVEBACK);
214  set_drives_speed_left_right(left_speed, right_speed);
215  set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDON, LEDOFF);
216  _drive = true;
217  _drive_set_at_ms = millis();
218 }
219 
226 void CodeRacer::turn_left()
227 {
228  turn_left(_turn_left_for_ms, _drive_left_speed, _drive_right_speed);
229 }
230 
237 void CodeRacer::turn_left(unsigned long turn_for_ms)
238 {
239  turn_left(turn_for_ms, _drive_left_speed, _drive_right_speed);
240 }
241 
250 void CodeRacer::turn_left(unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed)
251 {
252  _drive = false;
253  set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF); // LEDs setzen
254  set_drives_states_left_right(DRIVEBACK, DRIVEFRWD);
255  set_drives_speed_left_right(left_speed, right_speed);
256  // wait set delay for the timed turn
257  _turn_left_for_ms = turn_for_ms;
258  delay(_turn_left_for_ms);
259  // stop drives again
260  set_drives_stop_left_right();
261 }
262 
269 void CodeRacer::turn_right()
270 {
271  turn_right(_turn_right_for_ms, _drive_left_speed, _drive_right_speed);
272 }
273 
280 void CodeRacer::turn_right(unsigned long turn_for_ms)
281 {
282  turn_right(turn_for_ms, _drive_left_speed, _drive_right_speed);
283 }
284 
293 void CodeRacer::turn_right(unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed)
294 {
295  _drive = false;
296  set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDON); // LEDs setzen
297  set_drives_states_left_right(DRIVEFRWD, DRIVEBACK);
298  set_drives_speed_left_right(left_speed, right_speed);
299  // wait set delay for the timed turn
300  _turn_right_for_ms = turn_for_ms;
301  delay(_turn_right_for_ms);
302  // stop drives again
303  set_drives_stop_left_right();
304 }
305 
314 void CodeRacer::start_stop_at_min_distance() {
315  start_stop_at_min_distance(_usonic_stop_distance_cm);
316 }
317 
324 void CodeRacer::start_stop_at_min_distance(unsigned long min_distance_cm) {
325  if (false == _coderacer_stop_at_distance_enabled) {
326  _coderacer_stopped_at_min_distance = false;
327  usonic_set_stop_distance_cm(min_distance_cm);
328  _coderacer_stop_at_distance_enabled = true;
329  }
330 }
331 
335 void CodeRacer::stop_stop_at_min_distance() {
336  _coderacer_stop_at_distance_enabled = false;
337 }
338 
348 bool CodeRacer::start_stop() {
349  if (_coderracer_activ != coderracer_activ) {
350  _coderracer_activ = coderracer_activ;
351  if (true == _coderracer_activ) {
352  set_leds_all_off();
353  delay(500);
354  }
355  else {
356  stop_driving();
357  set_leds_all_on();
358  delay(200);
359  servo_set_to_center();
360  _servo_look_around_at_ms = millis() + random(20000, 120000);
361  }
362  }
363 
364  if ((false == _coderracer_activ) && (true == coderacer_fun_enabled)) {
365  kitt();
366  look_around();
367  }
368 
369  return(_coderracer_activ);
370 }
371  // end of group higherlevelmeths
380 bool CodeRacer::stopped_at_min_distance() {
381  return(_coderacer_stopped_at_min_distance);
382 }
383 
387 bool CodeRacer::is_driving() {
388  return(_drive);
389 }
390 
394 unsigned long CodeRacer::turn_left_for_ms() {
395  return(_turn_left_for_ms);
396 }
397 
401 unsigned long CodeRacer::turn_right_for_ms() {
402  return(_turn_right_for_ms);
403 }
404 
408 void CodeRacer::set_inactive() {
409  coderracer_activ = false;
410 }
411 
415 void CodeRacer::set_active() {
416  coderracer_activ = true;
417 }
418 
424 bool CodeRacer::is_active() {
425  return(coderracer_activ);
426 }
427  // end of group higherlevelgetters // end of group higherlevel
430 
431 //**************************************
432 //*** Just for fun ***
433 //**************************************
440 void CodeRacer::look_around()
441 {
442  if (_servo_look_around_at_ms < millis()) {
443  _servo_look_around_at_ms = millis() + random(FUN_MIN_PAUSE_MS, FUN_MAX_PAUSE_MS);
444  servo_set_to_left();
445  delay(500);
446  servo_set_to_right();
447  delay(800);
448  servo_set_to_center();
449  delay(300);
450  servo_set_to_left();
451  delay(100);
452  servo_set_to_center();
453  }
454 }
455 
459 void CodeRacer::kitt()
460 {
461  if (millis() - _last_led_switched_at_ms > LED_SWITCH_MS) {
462  _last_led_switched_at_ms = millis();
463  if (_last_led_on >= 5) {
464  _led_count = -1;
465  }
466  else if (_last_led_on <= 0) {
467  _led_count = 1;
468  }
469  _last_led_on = _last_led_on + _led_count;
470  switch (_last_led_on) {
471  case 0:
472  set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF);
473  break;
474  case 1:
475  set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF);
476  break;
477  case 2:
478  set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDOFF, LEDOFF);
479  break;
480  case 3:
481  set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF);
482  break;
483  case 4:
484  case 5:
485  set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDON);
486  break;
487  }
488  }
489 }
490  // end of group lowerlevelfun
492 
493 //**************************************
494 //*** Servo drive lower level control ***
495 //**************************************
510 void CodeRacer::servo_settings(uint8_t pos_center, uint8_t pos_left, uint8_t pos_right, uint8_t sweep_left_pos, uint8_t sweep_right_pos)
511 {
512  servo_center_pos = pos_center;
513  servo_left_pos = pos_left;
514  servo_right_pos = pos_right;
515  servo_sweep_left_pos = sweep_left_pos;
516  servo_sweep_right_pos = sweep_right_pos;
517 }
518 
526 void CodeRacer::servo_sweep()
527 {
528  uint8_t position;
529  _servo_sweep = true;
530  if (millis() - _servo_position_set_at_ms > SERVO_SWEEP_MS) {
531  position = _servo_position + _servo_sweep_step;
532  //sprintf(_debugmsg,"[%s] current position=%ld newpostion=%ld", __func__, _servo_position, position);
533  if ((position >= servo_sweep_left_pos) || (position >= SERVO_MAX_POSITION)) {
534  position = servo_sweep_left_pos;
535  _servo_sweep_step = SERVO_SWEEP_TO_RIGHT_STEP;
536  }
537  if ((position <= servo_sweep_right_pos) || (position <= SERVO_MIN_POSITION)) {
538  position = servo_sweep_right_pos;
539  _servo_sweep_step = SERVO_SWEEP_TO_LEFT_STEP;
540  }
541  _servo_set_position(position);
542  }
543 }
544 
548 void CodeRacer::servo_set_to_right()
549 {
550  servo_set_position_wait(servo_right_pos);
551 }
552 
556 void CodeRacer::servo_set_to_left()
557 {
558  servo_set_position_wait(servo_left_pos);
559 }
560 
564 void CodeRacer::servo_set_to_center()
565 {
566  servo_set_position_wait(servo_center_pos);
567 }
568 
575 uint8_t CodeRacer::servo_set_position_wait(uint8_t position)
576 {
577  _servo_sweep = false;
578  unsigned long wait_time_ms = _servo_set_position(position);
579  delay(wait_time_ms);
580  return(_servo_position);
581 }
582 
589 unsigned long CodeRacer::servo_set_position(uint8_t position)
590 {
591  _servo_sweep = false;
592  unsigned long wait_time_ms = _servo_set_position(position);
593  return(wait_time_ms);
594 }
595 
596 unsigned long CodeRacer::_servo_set_position(uint8_t position)
597 {
598  uint8_t _position = position;
599  uint8_t absdiff;
600 
601  if (position < SERVO_MIN_POSITION) {
602  _position = SERVO_MIN_POSITION;
603  }
604  else if (position > SERVO_MAX_POSITION) {
605  _position = SERVO_MAX_POSITION;
606  }
607  _servo->write(_position);
608  // wait minimal delay to avoid code collaps
609  delay(SERVO_SET_1TICK_POSITION_DELAY_MS);
610  absdiff = abs(_servo_position - _position);
611  if (absdiff > 1) {
612  _servo_position_eta_in_ms = absdiff * SERVO_SET_1TICK_POSITION_DELAY_MS;
613  }
614  else {
615  _servo_position_eta_in_ms = 0;
616  }
617 
618  _servo_position_set_at_ms = millis();
619  _servo_position = _position;
620 
621  return(_servo_position_eta_in_ms);
622 }
623  // end of group lowerlevelservomeths
632 uint8_t CodeRacer::servo_position() {
633  return(_servo_position);
634 }
635 
639 unsigned long CodeRacer::servo_position_set_at_ms() {
640  return(_servo_position_set_at_ms);
641 }
642 
649 unsigned long CodeRacer::servo_position_eta_in_ms() {
650  return(_servo_position_eta_in_ms);
651 }
652  // end of group lowerlevelservogetters // end of group lowerlevelservo
655 
656 
657 //**************************************
658 //*** Ultrasonic lower level control ***
659 //**************************************
672 unsigned long CodeRacer::usonic_measure_cm()
673 {
674  return(usonic_measure_cm(US_MAX_ECHO_TIME_US));
675 }
676 
682 unsigned long CodeRacer::usonic_measure_us()
683  {
684  return(usonic_measure_us(US_MAX_ECHO_TIME_US));
685  }
686 
694 unsigned long CodeRacer::usonic_measure_cm(unsigned long max_echo_run_time_us)
695 {
696  unsigned long echo_runtime_us = usonic_measure_us(max_echo_run_time_us);
697  unsigned long distance_cm = echo_runtime_us * 0.0172;
698  //Serial.print("MEASURE_DISTANCE. Distance in cm is: ");
699  //Serial.println(distance_cm);
700  _usonic_distance_cm = distance_cm;
701  return(distance_cm);
702 }
703 
711 unsigned long CodeRacer::usonic_measure_us(unsigned long max_echo_run_time_us)
712 {
713  unsigned long echo_runtime_us[3] = { 0,0,0 };
714  uint8_t measnr = 0;
715 
716  do {
717  echo_runtime_us[measnr] = usonic_measure_single_shot_us(max_echo_run_time_us);
718  if (echo_runtime_us[measnr] > 200) {
719  measnr++;
720  }
721  } while (measnr < 3);
722 
723  // we will take the medium out of 3 values ...
724  if (echo_runtime_us[0] > echo_runtime_us[1]) { std::swap(echo_runtime_us[0], echo_runtime_us[1]); }
725  if (echo_runtime_us[1] > echo_runtime_us[2]) { std::swap(echo_runtime_us[1], echo_runtime_us[2]); }
726  if (echo_runtime_us[0] > echo_runtime_us[1]) { std::swap(echo_runtime_us[0], echo_runtime_us[1]); }
727 
728  //Serial.print("MEASURE_DISTANCE_US. Echo runtime in us is: ");
729  //Serial.println(echo_runtime_us[1]);
730 
731  // if the stop at minimal distance is enabeled - check for minimal distance is reached
732  if (true == _coderacer_stop_at_distance_enabled) {
733  if (echo_runtime_us[1] <= _usonic_stop_distance_us) {
734  _coderacer_stopped_at_min_distance = true;
735  stop_driving();
736  _coderacer_stop_at_distance_enabled = false;
737  }
738  }
739  _usonic_distance_us = echo_runtime_us[1];
740  return(echo_runtime_us[1]);
741 }
742 
748 unsigned long CodeRacer::usonic_measure_single_shot_cm()
749 {
750  return(usonic_measure_single_shot_cm(US_MAX_ECHO_TIME_US));
751 }
752 
758 unsigned long CodeRacer::usonic_measure_single_shot_us()
759 {
760  return(usonic_measure_single_shot_us(US_MAX_ECHO_TIME_US));
761 }
762 
770 unsigned long CodeRacer::usonic_measure_single_shot_cm(unsigned long max_echo_run_time_us)
771 {
772  // convert into cm ... 344m/sec is the speed of noise - thus 34400cm/sec ... or 34,400cm/milisec ... or 0,0344cm/microsec
773  // the echo has to go the distance twice - forth and back - so the duration has to be the half of the measured one
774  // distance_cm = echo_duration/2 * 0,0344 or distance_cm = echo_duration/2 / 29,1 or distance_cm = echo_duration * 0,0172
775  // distance_cm = (echo_duration/2) / 29.1;
776  unsigned long echo_runtime_us = usonic_measure_single_shot_us(max_echo_run_time_us);
777  unsigned long distance_cm = echo_runtime_us * 0.0172;
778  //Serial.print("MEASURE_DISTANCE. Distance in cm is: ");
779  //Serial.println(distance_cm);
780  _usonic_distance_cm = distance_cm;
781  return(distance_cm);
782 }
783 
791 unsigned long CodeRacer::usonic_measure_single_shot_us(unsigned long max_echo_run_time_us)
792  {
793  unsigned long echo_runtime_us;
794  // start measurement - send a short pulse "HIGH" to the TRIG pin of the ultrasonic sensor
795  pinMode(_us_echo_pin, OUTPUT);
796  pinMode(_us_echo_pin, INPUT);
797  digitalWrite(_us_trigger_pin, LOW);
798  delayMicroseconds(2);
799  digitalWrite(_us_trigger_pin, HIGH);
800  delayMicroseconds(10);
801  digitalWrite(_us_trigger_pin, LOW);
802  // measure runtime in microseconds until the ECHO pin aof the sensor goes HIGH
803  echo_runtime_us = pulseInLong(_us_echo_pin, HIGH, max_echo_run_time_us);
804  if (echo_runtime_us == 0) {
805  echo_runtime_us = max_echo_run_time_us; // US_MAX_ECHO_TIME_US;
806  }
807  //Serial.print("MEASURE_DISTANCE_US. Echo runtime in us is: ");
808  //Serial.println(echo_runtime_us);
809  _usonic_distance_us = echo_runtime_us;
810  return(echo_runtime_us);
811  }
812  // end of group lowerlevelusmethods
825 void CodeRacer::usonic_set_stop_distance_cm(unsigned long stop_distance_cm)
826 {
827  _usonic_stop_distance_us = stop_distance_cm * 58.14;
828 }
829 
837 void CodeRacer::usonic_set_stop_distance_us(unsigned long stop_distance_us)
838 {
839  _usonic_stop_distance_us = stop_distance_us;
840 }
841 
845 unsigned long CodeRacer::usonic_distance_us() {
846  return(_usonic_distance_us);
847 }
848 
852 unsigned long CodeRacer::usonic_distance_cm() {
853  return(_usonic_distance_cm);
854 }
855  // end of group lowerlevelusgetters // end of group lowerlevelus
858 
859 
860 //**************************************
861 //*** Drives lower level control ***
862 //**************************************
863 
878 void CodeRacer::drives_settings(uint8_t drive_left_speed, uint8_t drive_right_speed, unsigned long turn_left_for_ms, unsigned long turn_right_for_ms)
879 {
880  _drive_left_speed = drive_left_speed;
881  _drive_right_speed = drive_right_speed;
882  _turn_left_for_ms = turn_left_for_ms;
883  _turn_right_for_ms = turn_right_for_ms;
884 }
885 
889 void CodeRacer::set_drives_stop_left_right() {
890  set_drive_left_state(DRIVESTOP);
891  set_drive_right_state(DRIVESTOP);
892 }
893 
899 void CodeRacer::set_drives_states_left_right(drivestate stateleft, drivestate stateright) {
900  set_drive_left_state(stateleft);
901  set_drive_right_state(stateright);
902 }
903 
908 void CodeRacer::set_drive_left_state(drivestate state) {
909  set_drive_state(state, _drive_left_frwd_pin, _drive_left_back_pin);
910 }
911 
916 void CodeRacer::set_drive_right_state(drivestate state) {
917  set_drive_state(state, _drive_right_frwd_pin, _drive_right_back_pin);
918 }
919 
926 void CodeRacer::set_drive_state(drivestate state, uint8_t frwdpin, uint8_t backpin) {
927  switch (state) {
928  case DRIVESTOP:
929  digitalWrite(frwdpin, LOW);
930  digitalWrite(backpin, LOW);
931  break;
932  case DRIVEFRWD:
933  digitalWrite(frwdpin, HIGH);
934  digitalWrite(backpin, LOW);
935  break;
936  case DRIVEBACK:
937  digitalWrite(frwdpin, LOW);
938  digitalWrite(backpin, HIGH);
939  break;
940  }
941 }
942 
950 void CodeRacer::set_drives_speed_left_right(uint8_t speedleft, uint8_t speedright) {
951  set_drive_left_speed(speedleft);
952  set_drive_right_speed(speedright);
953 }
954 
961 void CodeRacer::set_drive_left_speed(uint8_t speed) {
962  set_drive_speed(speed, _drive_left_enable_pin);
963 }
964 
971 void CodeRacer::set_drive_right_speed(uint8_t speed) {
972  set_drive_speed(speed, _drive_right_enable_pin);
973 }
974 
982 void CodeRacer::set_drive_speed(uint8_t speed, uint8_t enablepin) {
983  _analog_write(enablepin, (int)speed);
984 }
985  // end of group lowerleveldrivesmethods
994 uint8_t CodeRacer::drive_right_speed() {
995  return _drive_right_speed;
996 }
997 
1001 uint8_t CodeRacer::drive_left_speed() {
1002  return(_drive_left_speed);
1003 }
1004 
1005 void CodeRacer::_analog_write(uint8_t pin, uint8_t speed) {
1006  if (pin == _drive_left_enable_pin) {
1007  _drive_left_speed = speed;
1008  ledcWrite(DRIVE_PWM_LEFT_CHANNEL, speed);
1009  }
1010  if (pin == _drive_right_enable_pin) {
1011  _drive_right_speed = speed;
1012  ledcWrite(DRIVE_PWM_RIGHT_CHANNEL, speed);
1013  }
1014 }
1015  // end of group lowerleveldrivesgetters // end of group lowerleveldrives
1018 
1019 
1020 //**************************************
1021 //*** LED lower level control ***
1022 //**************************************
1037 void CodeRacer::set_leds_left_stop_frwd_right(ledstate leftled, ledstate stopled, ledstate frwdled, ledstate rightled) {
1038  digitalWrite(_led_left_pin, leftled);
1039  digitalWrite(_led_frwd_pin, frwdled);
1040  digitalWrite(_led_right_pin, rightled);
1041  digitalWrite(_led_stop_pin, stopled);
1042 }
1043 
1048 void CodeRacer::set_leds_all(ledstate alleds) {
1049  digitalWrite(_led_left_pin, alleds);
1050  digitalWrite(_led_frwd_pin, alleds);
1051  digitalWrite(_led_right_pin, alleds);
1052  digitalWrite(_led_stop_pin, alleds);
1053 }
1054 
1058 void CodeRacer::set_leds_all_off() {
1059  set_leds_all(LEDOFF);
1060 }
1061 
1065 void CodeRacer::set_leds_all_on() {
1066  set_leds_all(LEDON);
1067 }
1068  // end of group lowerlevelledmets // end of group lowerlevelled
1071 
1072 
1073 //**************************************
1074 //*** ISRs ***
1075 //**************************************
1076 //IRAM_ATTR is used to load the code into DRAM and not to Flash to make it faster - required for ISRs
1077 void IRAM_ATTR CodeRacer::_set_button_state() {
1078  if ((millis() - button_last_pressed_at_ms) > BUTTON_BOUNCING_TIME_MS) {
1079  button_last_pressed_at_ms = millis(); // simplest debouncing - just wait ;-)
1080  coderracer_activ = !coderracer_activ;
1081  }
1082 }
1083 
1084 
1085 //**********************************************************************************************************************
1086 //** Methods below this are obsolete and only in here for compatiblity to other projects - do not use them anymore !!!
1087 //**********************************************************************************************************************
1088 void CodeRacer::motor_einstellungen(uint8_t drive_left_speed, uint8_t drive_right_speed, unsigned long turn_left_for_ms, unsigned long turn_right_for_ms)
1089 {
1090  drives_settings(drive_left_speed, drive_right_speed, turn_left_for_ms, turn_right_for_ms);
1091 }
1092 
1093 void CodeRacer::servo_einstellungen(uint8_t pos_center, uint8_t pos_left, uint8_t pos_right, uint8_t sweep_left_pos, uint8_t sweep_right_pos)
1094 {
1095  servo_settings(pos_center, pos_left, pos_right, sweep_left_pos, sweep_right_pos);
1096 }
1097 
1098 void CodeRacer::servo_rechts()
1099 {
1100  Serial.println("SERVO_RECHTS"); // Meldung am Monitor ausgeben
1101  servo_set_to_right(); // Servo auf den Winkel rechts drehen
1102 }
1103 
1104 void CodeRacer::servo_links()
1105 {
1106  Serial.println("SERVO_LINKS"); // Meldung am Monitor ausgeben
1107  servo_set_to_left(); // Servo auf den Winkel links drehen
1108 }
1109 
1110 void CodeRacer::servo_mitte()
1111 {
1112  Serial.println("SERVO_MITTE");
1113  servo_set_to_center();
1114 }
1115 
1116 void CodeRacer::servo_schwenk()
1117 {
1118  servo_sweep();
1119 }
1120 
1121 void CodeRacer::links()
1122 {
1123  Serial.println("CODERACER_LINKS");
1124  turn_left();
1125 }
1126 
1127 void CodeRacer::rechts()
1128 {
1129  Serial.println("CODERACER_RECHTS");
1130  turn_right();
1131 }
1132 
1133 void CodeRacer::anhalten()
1134 {
1135  Serial.println("CODERACER_ANHALTEN");
1136  stop_driving();
1137 }
1138 
1139 void CodeRacer::vorwaerts()
1140 {
1141  Serial.println("CODERACER_VORWAERTS");
1142  drive_forward();
1143 }
1144 
1145 void CodeRacer::rueckwaerts()
1146 {
1147  Serial.println("CODERACER_RUECKWAERTS");
1148  drive_backward();
1149 }
1150 
1151 unsigned long CodeRacer::abstand_messen()
1152 {
1153  return(0);
1154 
1155  unsigned long distance_cm = 0;
1156  unsigned long min_distance_cm = 1000;
1157  int8_t servo_turn_direction = 0;
1158 
1159 
1160  // while driving or sweeping there will be only one value be measured - else there will be mutiple measurements and the servor will be turning
1161  if (((true == _drive) || (servo_center_pos == _servo_position) || _servo_sweep == true)) {
1162  // while driving ...
1163  //Serial.println("ABSTAND_MESSEN im fahren, direkt nach vorn oder Schwenk() ist aktiv ...");
1164  min_distance_cm = usonic_measure_cm();
1165  } else {
1166  // no sweep, not driving ...
1167  //Serial.println("ABSTAND_MESSEN im Stand nach links oder rechts...");
1168  // are we already ath left or right with the servo ?
1169  if (servo_left_pos == _servo_position) {
1170  //Serial.println("ABSTAND_MESSEN. Linke Seite.");
1171  //left ...
1172  servo_turn_direction = SERVO_SWEEP_TO_RIGHT_STEP;
1173  }
1174  if (servo_right_pos == _servo_position) {
1175  //right ...
1176  //Serial.println("ABSTAND_MESSEN rechte Seite.");
1177  servo_turn_direction = SERVO_SWEEP_TO_LEFT_STEP;
1178  }
1179  // trun the servo and do measuring ... remember the smallest value
1180  do {
1181  _servo_set_position(_servo_position + servo_turn_direction);
1182  //Serial.print("ABSTAND_MESSEN. Servo position:");
1183  //Serial.println(_servo_position);
1184  distance_cm = usonic_measure_cm();
1185  if (distance_cm < min_distance_cm) {
1186  min_distance_cm = distance_cm;
1187  }
1188  } while ((_servo_position > H_SERVO_CENTER_LEFT) || (_servo_position < H_SERVO_CENTER_RIGHT));
1189  }
1190 
1191  Serial.print("ABSTAND_MESSEN. Der Abstand in cm ist (mindestens):");
1192  Serial.println(min_distance_cm);
1193  //_min_distance_cm = min_distance_cm;
1194 
1195  return(min_distance_cm);
1196 
1197 }
1198 
1199 //**********************************************************************************************************************
1200 //** Helper methods
1201 //**********************************************************************************************************************
1202 
CodeRacer::drive_forward
void drive_forward()
Sets the speed and the directions of both drives so that it will move forward.
Definition: CodeRacer.cpp:173
+
+
+ + + + diff --git a/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.html b/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.html new file mode 100644 index 0000000..7126d0b --- /dev/null +++ b/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.html @@ -0,0 +1,182 @@ + + + + + + + +Arduino {code}racer API: Getters + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions
+
+
Getters
Lower level servo drive methods and getters
+
+
+ + + + + + + + + + + +

+Functions

uint8_t CodeRacer::servo_position ()
 Get the actual position of the servo. More...
 
unsigned long CodeRacer::servo_position_set_at_ms ()
 Get the system time in ms the servo was set to the actual position. More...
 
unsigned long CodeRacer::servo_position_eta_in_ms ()
 Get the system time in ms the servo will reach its position This is an estimated time. If this is a time in the future, the servo may still moving. If this is a time in the past , the servo should have reached its postion already. More...
 
+

Detailed Description

+

Function Documentation

+ +

◆ servo_position()

+ +
+
+ + + + + + + +
uint8_t CodeRacer::servo_position ()
+
+ +

Get the actual position of the servo.

+
Returns
Actual position of the servo
+ +

Definition at line 632 of file CodeRacer.cpp.

+
632  {
633  return(_servo_position);
634 }
+
+
+ +

◆ servo_position_set_at_ms()

+ +
+
+ + + + + + + +
unsigned long CodeRacer::servo_position_set_at_ms ()
+
+ +

Get the system time in ms the servo was set to the actual position.

+
Returns
System time in ms the servo was set
+ +

Definition at line 639 of file CodeRacer.cpp.

+
639  {
640  return(_servo_position_set_at_ms);
641 }
+
+
+ +

◆ servo_position_eta_in_ms()

+ +
+
+ + + + + + + +
unsigned long CodeRacer::servo_position_eta_in_ms ()
+
+ +

Get the system time in ms the servo will reach its position This is an estimated time. If this is a time in the future, the servo may still moving. If this is a time in the past , the servo should have reached its postion already.

+
Returns
System time in ms the servo will reach its position
+ +

Definition at line 649 of file CodeRacer.cpp.

+
649  {
650  return(_servo_position_eta_in_ms);
651 }
+
+
+
+
+ + + + diff --git a/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.js b/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.js new file mode 100644 index 0000000..dbcaa68 --- /dev/null +++ b/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.js @@ -0,0 +1,6 @@ +var group__lowerlevelservogetters = +[ + [ "servo_position", "d4/df4/group__lowerlevelservogetters.html#ga451b3ecd272e9a11de4b221f8d771432", null ], + [ "servo_position_set_at_ms", "d4/df4/group__lowerlevelservogetters.html#gaeed05a3d4e06adccebdfce207b734b2f", null ], + [ "servo_position_eta_in_ms", "d4/df4/group__lowerlevelservogetters.html#ga84ba256b9ccdf0e9f4280279da68a509", null ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.map b/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.map new file mode 100644 index 0000000..354ca7c --- /dev/null +++ b/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.map @@ -0,0 +1,3 @@ + + + diff --git a/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.md5 b/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.md5 new file mode 100644 index 0000000..34e1188 --- /dev/null +++ b/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.md5 @@ -0,0 +1 @@ +68f8f6d7188bd071914c1b796efb68b6 \ No newline at end of file diff --git a/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.png b/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.png new file mode 100644 index 0000000..c79e2c7 Binary files /dev/null and b/Doku/Doxygen/html/d4/df4/group__lowerlevelservogetters.png differ diff --git a/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.html b/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.html new file mode 100644 index 0000000..a246651 --- /dev/null +++ b/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.html @@ -0,0 +1,110 @@ + + + + + + + +Arduino {code}racer API: Lower level drives methods and getters + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Modules
+
+
Lower level drives methods and getters
+
+
+ + + + + + +

+Modules

 Methods
 
 Getters
 
+

Detailed Description

+
+
+ + + + diff --git a/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.js b/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.js new file mode 100644 index 0000000..4b19b35 --- /dev/null +++ b/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.js @@ -0,0 +1,5 @@ +var group__lowerleveldrives = +[ + [ "Methods", "d1/d8a/group__lowerleveldrivesmeths.html", "d1/d8a/group__lowerleveldrivesmeths" ], + [ "Getters", "d0/d0a/group__lowerleveldrivesgetters.html", "d0/d0a/group__lowerleveldrivesgetters" ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.map b/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.map new file mode 100644 index 0000000..50ccb6e --- /dev/null +++ b/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.map @@ -0,0 +1,4 @@ + + + + diff --git a/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.md5 b/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.md5 new file mode 100644 index 0000000..5dd3d62 --- /dev/null +++ b/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.md5 @@ -0,0 +1 @@ +929320c5d691931416a1f3fbdc41f4b0 \ No newline at end of file diff --git a/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.png b/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.png new file mode 100644 index 0000000..31b7357 Binary files /dev/null and b/Doku/Doxygen/html/d6/d98/group__lowerleveldrives.png differ diff --git a/Doku/Doxygen/html/d6/d9a/_code_racer_8h_source.html b/Doku/Doxygen/html/d6/d9a/_code_racer_8h_source.html new file mode 100644 index 0000000..656291b --- /dev/null +++ b/Doku/Doxygen/html/d6/d9a/_code_racer_8h_source.html @@ -0,0 +1,100 @@ + + + + + + + +Arduino {code}racer API: C:/Users/jnoack/Documents/Arduino/libraries/CodeRacer/CodeRacer.h Source File + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
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+ + +
+ +
+ +
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+
CodeRacer.h
+
+
+
1 #include "Arduino.h"
2 #include <algorithm> // std::swap
3 #include <ESP32Servo.h> // Servo drive support for ESP32
4 #include "esp32-hal-ledc.h" // Part of ESP32 board files - Analog output
5 
6 #ifndef __CodeRacer_H__
7 #define __CodeRacer_H__
8 
9 //----- Fun stuff ---------
10 #define FUN_MIN_PAUSE_MS 120000 // minimum and maximum pause between to rounds fun
11 #define FUN_MAX_PAUSE_MS 300000
12 #define LED_SWITCH_MS 50 // speed of knight rider lights
13 //----- Button ------------
14 #define H_BUTTON_PIN 17
15 #define BUTTON_BOUNCING_TIME_MS 200 // bouncing delay
16 //----- Servo -----
17 #define H_SERVO_PIN 16
18 #define H_SERVO_LEFT_POS 145 // left position of the servo
19 #define H_SERVO_CENTER_LEFT 100 // left-center position of the servo
20 #define H_SERVO_RIGHT_POS 35 // right position of the servo
21 #define H_SERVO_CENTER_RIGHT 80 // right-center position of the servo
22 #define H_SERVO_CENTER_POS 90 // center position of the servo
23 #define H_SERVO_SWEEP_LEFT_POS 140 // most left sweep position of the servo
24 #define H_SERVO_SWEEP_RIGHT_POS 40 // most right sweep position of the servo
25 #define SERVO_SWEEP_TO_LEFT_STEP 5 // sweep step to the left
26 #define SERVO_SWEEP_TO_RIGHT_STEP -5 // sweep step to the right
27 #define SERVO_SWEEP_MS 10 // duration of time betwee to sweep steps
28 #define SERVO_MAX_POSITION 170 // maximum servo position
29 #define SERVO_MIN_POSITION 10 // minimum servo position
30 #define SERVO_SET_1TICK_POSITION_DELAY_MS 3 // minimum duration of time between two servo steps
31 
32 //----- Ultrasonic sensor -----
33 #define H_US_TRIG_PIN 12
34 #define H_US_ECHO_PIN 14
35 #define H_US_STOP_DISTANCE_CM 25 // if the measured distance is smaller the racer maybe stopped
36 #define US_MAX_ECHO_TIME_US 6000 // timeout for ultrasonic sensor measurements - this is about 100cm
37 
38 //----- Drives -----
39 #define H_DRIVE_RIGHT_SPEED 255 // default speed of right side drive. 0 ...255
40 #define H_DRIVE_LEFT_SPEED 255 // default speed of left side drive. 0 ...255
41 #define H_DRIVE_RIGHT_ENABLE_PIN 2
42 #define H_DRIVE_RIGHT_FWRD_PIN 4
43 #define H_DRIVE_RIGHT_BACK_PIN 15
44 #define H_DRIVE_LEFT_ENABLE_PIN 21
45 #define H_DRIVE_LEFT_FWRD_PIN 22
46 #define H_DRIVE_LEFT_BACK_PIN 23
47 #define H_RACER_TURN_LEFT_FOR_MS 400 // duration of time the racer will turn to left
48 #define H_RACER_TURN_RIGHT_FOR_MS 400 // duration of time the racer will turn to right
49 
50 #define DRIVE_PWM_LEFT_CHANNEL 5 // PWM-channel for left side drive
51 #define DRIVE_PWM_RIGHT_CHANNEL 6 // PWM-channel for right side drive
52 
53 //----- LEDs -----
54 #define H_LED_FRWD_PIN 26
55 #define H_LED_STOP_PIN 25
56 #define H_LED_LEFT_PIN 33
57 #define H_LED_RIGHT_PIN 27
58 
59 static volatile bool coderracer_activ = false;;
60 static volatile unsigned long button_last_pressed_at_ms = millis();
61 
62 enum ledstate {
63  LEDOFF,
64  LEDON
65 };
66 
67 enum drivestate {
68  DRIVESTOP,
69  DRIVEFRWD,
70  DRIVEBACK
71 };
72 
73 //--- this is as preparation of the class creation
74 class CodeRacer {
75 
76  private:
77 
78  //pins
79  uint8_t _button_pin;
80  uint8_t _servo_pin;
81  uint8_t _us_trigger_pin;
82  uint8_t _us_echo_pin;
83  uint8_t _drive_left_frwd_pin;
84  uint8_t _drive_left_back_pin;
85  uint8_t _drive_left_enable_pin;
86  uint8_t _drive_right_frwd_pin;
87  uint8_t _drive_right_back_pin;
88  uint8_t _drive_right_enable_pin;
89  uint8_t _led_frwd_pin;
90  uint8_t _led_stop_pin;
91  uint8_t _led_left_pin;
92  uint8_t _led_right_pin;
93 
94  //servo variables
95  int8_t _servo_sweep_step;
96  uint8_t _servo_position;
97  unsigned long _servo_position_set_at_ms;
98  unsigned long _servo_position_eta_in_ms;
99 
100  //drives variables
101  uint8_t _drive_left_speed;
102  uint8_t _drive_right_speed;
103  unsigned long _turn_left_for_ms;
104  unsigned long _turn_right_for_ms;
105 
106  // ultrasonic variables
107  bool _coderacer_stopped_at_min_distance;
108  bool _coderacer_stop_at_distance_enabled;
109  unsigned long _usonic_stop_distance_cm;
110  unsigned long _usonic_stop_distance_us;
111  unsigned long _usonic_distance_us;
112  unsigned long _usonic_distance_cm;
113 
114  //fun stuff variables
115  unsigned long _last_led_switched_at_ms;
116  uint8_t _led_count;
117  uint8_t _last_led_on;
118  unsigned long _servo_look_around_at_ms;
119 
120 
121  unsigned long _min_distance_cm;
122  bool _drive;
123  unsigned long _drive_set_at_ms;
124  bool _servo_sweep;
125  bool _coderracer_activ;
126 
127  //objects
128  Servo* _servo;
129  Servo* _servo_dummy;
130 
131  static void _set_button_state();
132  void _analog_write(uint8_t pin, uint8_t speed);
133  unsigned long _servo_set_position(uint8_t position);
134 
135  public:
136  //properties
137  bool coderacer_fun_enabled;
138 
139  uint8_t servo_center_pos;
140  uint8_t servo_left_pos;
141  uint8_t servo_right_pos;
142  uint8_t servo_sweep_left_pos;
143  uint8_t servo_sweep_right_pos;
145  //methods
146  CodeRacer();
147 
148  CodeRacer(uint8_t button_pin, uint8_t servo_pin,
149  uint8_t us_trigger_pin, uint8_t us_echo_pin,
150  uint8_t drive_left_frwd_pin, uint8_t drive_left_back_pin, uint8_t drive_left_enable_pin,
151  uint8_t drive_right_frwd_pin, uint8_t drive_right_back_pin, uint8_t drive_right_enable_pin,
152  uint8_t led_frwd_pin, uint8_t led_stop_pin, uint8_t led_left_pin, uint8_t led_right_pin);
153 
154  void set_inactive();
155  void set_active();
156 
157  void begin();
158 
159  // getters
160  bool is_active();
161  bool is_driving();
162  bool stopped_at_min_distance();
163  unsigned long usonic_distance_cm();
164  unsigned long usonic_distance_us();
165  uint8_t servo_position();
166  unsigned long servo_position_set_at_ms();
167  unsigned long servo_position_eta_in_ms();
168  uint8_t drive_left_speed();
169  uint8_t drive_right_speed();
170  unsigned long turn_left_for_ms();
171  unsigned long turn_right_for_ms();
172 
173  // higher level {code}racer services
174  void stop_driving();
175  void drive_forward();
176  void drive_forward(uint8_t left_speed, uint8_t right_speed);
177  void drive_backward();
178  void drive_backward(uint8_t left_speed, uint8_t right_speed);
179  void turn_left();
180  void turn_left(unsigned long turn_for_ms);
181  void turn_left(unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed);
182  void turn_right();
183  void turn_right(unsigned long turn_for_ms);
184  void turn_right(unsigned long turn_for_ms, uint8_t left_speed, uint8_t right_speed);
185 
186  void start_stop_at_min_distance();
187  void start_stop_at_min_distance(unsigned long min_distance_cm);
188  void stop_stop_at_min_distance();
189 
190 
191  // LEDs
192  void set_leds_left_stop_frwd_right(ledstate leftled, ledstate stopled, ledstate frwdled, ledstate rightled);
193  void set_leds_all(ledstate alleds);
194  void set_leds_all_off();
195  void set_leds_all_on();
196 
197  // Drives
198  void drives_settings(uint8_t drive_left_speed, uint8_t drive_right_speed, unsigned long turn_left_ms, unsigned long turn_right_ms);
199  void set_drives_states_left_right(drivestate stateleft, drivestate stateright);
200  void set_drive_left_state(drivestate state);
201  void set_drive_right_state(drivestate state);
202  void set_drive_state(drivestate state, uint8_t frwdpin, uint8_t backpin);
203  void set_drives_speed_left_right(uint8_t speedleft, uint8_t speedright);
204  void set_drive_left_speed(uint8_t speed);
205  void set_drive_right_speed(uint8_t speed);
206  void set_drive_speed(uint8_t speed, uint8_t enablepin);
207  void set_drives_stop_left_right();
208 
209  // Ultrasonic sensor
210  unsigned long usonic_measure_cm();
211  unsigned long usonic_measure_us();
212  unsigned long usonic_measure_cm(unsigned long max_echo_run_time_us);
213  unsigned long usonic_measure_us(unsigned long max_echo_run_time_us);
214  unsigned long usonic_measure_single_shot_cm();
215  unsigned long usonic_measure_single_shot_us();
216  unsigned long usonic_measure_single_shot_cm(unsigned long max_echo_run_time_us);
217  unsigned long usonic_measure_single_shot_us(unsigned long max_echo_run_time_us);
218  void usonic_set_stop_distance_cm(unsigned long stop_distance_cm);
219  void usonic_set_stop_distance_us(unsigned long stop_distance_us);
220 
221  // Servo drive
222  void servo_settings(uint8_t pos_center, uint8_t pos_left, uint8_t pos_right, uint8_t sweep_left_pos, uint8_t sweep_right_pos);
223  uint8_t servo_set_position_wait(uint8_t position);
224  unsigned long servo_set_position(uint8_t position);
225  void servo_set_to_right();
226  void servo_set_to_left();
227  void servo_set_to_center();
228  void servo_sweep();
229 
230  // just for fun
231  void kitt();
232  void look_around();
233 
234  // previous OBSOLETE german language definitions of the methods - still needed to support MakerLab Murnau {code}racer project
235  // - but use the english ones for new implementations
236  void servo_einstellungen(uint8_t winkel_mitte, uint8_t winkel_links, uint8_t winkel_rechts, uint8_t schwenk_links, uint8_t schwenk_rechts);
237  void motor_einstellungen(uint8_t motor_links_tempo, uint8_t motor_rechts_tempo, unsigned long drehung_links_ms, unsigned long drehung_rechts_ms);
238  void anhalten();
239  void vorwaerts();
240  void rueckwaerts();
241  void links();
242  void rechts();
243  void servo_rechts();
244  void servo_links();
245  void servo_mitte();
246  unsigned long abstand_messen();
247  void servo_schwenk();
248  bool start_stop();
249 };
250 
251 
252 
253 #endif
+
+ + + + diff --git a/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.html b/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.html new file mode 100644 index 0000000..0fce139 --- /dev/null +++ b/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.html @@ -0,0 +1,335 @@ + + + + + + + +Arduino {code}racer API: Methods + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
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+ +
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+ +
+ +
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+ + +
+ +
+ +
+
+Functions
+
+
Methods
Lower level ultra sonic methods and getters
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + +

+Functions

unsigned long CodeRacer::usonic_measure_cm ()
 Measures the distance to the next object in front of the ultra sonic sensor in cm. More...
 
unsigned long CodeRacer::usonic_measure_us ()
 Measures the distance to the next object in front of the ultra sonic sensor in microseconds. More...
 
unsigned long CodeRacer::usonic_measure_cm (unsigned long max_echo_run_time_us)
 Measures the distance to the next object in front of the ultra sonic sensor in cm. More...
 
unsigned long CodeRacer::usonic_measure_us (unsigned long max_echo_run_time_us)
 Measures the distance to the next object in front of the ultra sonic sensor in microseconds. More...
 
unsigned long CodeRacer::usonic_measure_single_shot_cm ()
 Measures the distance to the next object in front of the ultra sonic sensor in cm. More...
 
unsigned long CodeRacer::usonic_measure_single_shot_us ()
 Measures the distance to the next object in front of the ultra sonic sensor in microseconds. More...
 
unsigned long CodeRacer::usonic_measure_single_shot_cm (unsigned long max_echo_run_time_us)
 Measures the distance to the next object in front of the ultra sonic sensor in cm. More...
 
unsigned long CodeRacer::usonic_measure_single_shot_us (unsigned long max_echo_run_time_us)
 Measures the distance to the next object in front of the ultra sonic sensor in microseconds. More...
 
+

Detailed Description

+

Function Documentation

+ +

◆ usonic_measure_cm() [1/2]

+ +
+
+ + + + + + + +
unsigned long CodeRacer::usonic_measure_cm ()
+
+ +

Measures the distance to the next object in front of the ultra sonic sensor in cm.

+

This is the medium one out of 3 measurements. The maximum measured distance is about 100cm and defined by the US_MAX_ECHO_TIME_US setting in the header file.

Returns
The measured distance in cm.
+ +

Definition at line 672 of file CodeRacer.cpp.

+
673 {
674  return(usonic_measure_cm(US_MAX_ECHO_TIME_US));
675 }
+
+
+ +

◆ usonic_measure_us() [1/2]

+ +
+
+ + + + + + + +
unsigned long CodeRacer::usonic_measure_us ()
+
+ +

Measures the distance to the next object in front of the ultra sonic sensor in microseconds.

+

This is the medium one out of 3 measurements. The maximum measured distance is about 6000 microseconds and defined by the US_MAX_ECHO_TIME_US setting in the header file.

Returns
The measured distance in microseconds.
+ +

Definition at line 682 of file CodeRacer.cpp.

+
683  {
684  return(usonic_measure_us(US_MAX_ECHO_TIME_US));
685  }
+
+
+ +

◆ usonic_measure_cm() [2/2]

+ +
+
+ + + + + + + + +
unsigned long CodeRacer::usonic_measure_cm (unsigned long max_echo_run_time_us)
+
+ +

Measures the distance to the next object in front of the ultra sonic sensor in cm.

+

This is the medium one out of 3 measurements. Be careful with high values for max_echo_run_time_us - this may increase run time due to the fact that if there is nothing in range of the sensor it will wait until this specified run time of the echo is over. The maximum range the sensor is specified for is about 300cm.

Parameters
+ + +
max_echo_run_time_usDefines the maximum echo run time and by that the maximum of distance that can be measured.
+
+
+
Returns
The measured distance in cm.
+ +

Definition at line 694 of file CodeRacer.cpp.

+
695 {
696  unsigned long echo_runtime_us = usonic_measure_us(max_echo_run_time_us);
697  unsigned long distance_cm = echo_runtime_us * 0.0172;
698  //Serial.print("MEASURE_DISTANCE. Distance in cm is: ");
699  //Serial.println(distance_cm);
700  _usonic_distance_cm = distance_cm;
701  return(distance_cm);
702 }
+
+
+ +

◆ usonic_measure_us() [2/2]

+ +
+
+ + + + + + + + +
unsigned long CodeRacer::usonic_measure_us (unsigned long max_echo_run_time_us)
+
+ +

Measures the distance to the next object in front of the ultra sonic sensor in microseconds.

+

This is the medium one out of 3 measurements. Be careful with high values for max_echo_run_time_us - this may increase run time due to the fact that if there is nothing in range of the sensor it will wait until this specified run time of the echo is over. The maximum range the sensor is specified for is about 300cm.

Parameters
+ + +
max_echo_run_time_usDefines the maximum echo run time in microseconds and by that the maximum of distance that can be measured.
+
+
+
Returns
The measured distance in microseconds.
+ +

Definition at line 711 of file CodeRacer.cpp.

+
712 {
713  unsigned long echo_runtime_us[3] = { 0,0,0 };
714  uint8_t measnr = 0;
715 
716  do {
717  echo_runtime_us[measnr] = usonic_measure_single_shot_us(max_echo_run_time_us);
718  if (echo_runtime_us[measnr] > 200) {
719  measnr++;
720  }
721  } while (measnr < 3);
722 
723  // we will take the medium out of 3 values ...
724  if (echo_runtime_us[0] > echo_runtime_us[1]) { std::swap(echo_runtime_us[0], echo_runtime_us[1]); }
725  if (echo_runtime_us[1] > echo_runtime_us[2]) { std::swap(echo_runtime_us[1], echo_runtime_us[2]); }
726  if (echo_runtime_us[0] > echo_runtime_us[1]) { std::swap(echo_runtime_us[0], echo_runtime_us[1]); }
727 
728  //Serial.print("MEASURE_DISTANCE_US. Echo runtime in us is: ");
729  //Serial.println(echo_runtime_us[1]);
730 
731  // if the stop at minimal distance is enabeled - check for minimal distance is reached
732  if (true == _coderacer_stop_at_distance_enabled) {
733  if (echo_runtime_us[1] <= _usonic_stop_distance_us) {
734  _coderacer_stopped_at_min_distance = true;
735  stop_driving();
736  _coderacer_stop_at_distance_enabled = false;
737  }
738  }
739  _usonic_distance_us = echo_runtime_us[1];
740  return(echo_runtime_us[1]);
741 }
+
+
+ +

◆ usonic_measure_single_shot_cm() [1/2]

+ +
+
+ + + + + + + +
unsigned long CodeRacer::usonic_measure_single_shot_cm ()
+
+ +

Measures the distance to the next object in front of the ultra sonic sensor in cm.

+

This is a one shot measurement. The maximum measured distance is about 6000 microseconds and defined by the US_MAX_ECHO_TIME_US setting in the header file.

Returns
The measured distance in cm.
+ +

Definition at line 748 of file CodeRacer.cpp.

+
749 {
750  return(usonic_measure_single_shot_cm(US_MAX_ECHO_TIME_US));
751 }
+
+
+ +

◆ usonic_measure_single_shot_us() [1/2]

+ +
+
+ + + + + + + +
unsigned long CodeRacer::usonic_measure_single_shot_us ()
+
+ +

Measures the distance to the next object in front of the ultra sonic sensor in microseconds.

+

This is a one shot measurement. The maximum measured distance is about 6000 microseconds and defined by the US_MAX_ECHO_TIME_US setting in the header file.

Returns
The measured distance in microseconds.
+ +

Definition at line 758 of file CodeRacer.cpp.

+
759 {
760  return(usonic_measure_single_shot_us(US_MAX_ECHO_TIME_US));
761 }
+
+
+ +

◆ usonic_measure_single_shot_cm() [2/2]

+ +
+
+ + + + + + + + +
unsigned long CodeRacer::usonic_measure_single_shot_cm (unsigned long max_echo_run_time_us)
+
+ +

Measures the distance to the next object in front of the ultra sonic sensor in cm.

+

This is a one shot measurement. Be careful with high values for max_echo_run_time_us - this may increase run time due to the fact that if there is nothing in range of the sensor it will wait until this specified run time of the echo is over. The maximum range the sensor is specified for is about 300cm.

Parameters
+ + +
max_echo_run_time_usDefines the maximum echo run time in microseconds and by that the maximum of distance that can be measured.
+
+
+
Returns
The measured distance in cm.
+ +

Definition at line 770 of file CodeRacer.cpp.

+
771 {
772  // convert into cm ... 344m/sec is the speed of noise - thus 34400cm/sec ... or 34,400cm/milisec ... or 0,0344cm/microsec
773  // the echo has to go the distance twice - forth and back - so the duration has to be the half of the measured one
774  // distance_cm = echo_duration/2 * 0,0344 or distance_cm = echo_duration/2 / 29,1 or distance_cm = echo_duration * 0,0172
775  // distance_cm = (echo_duration/2) / 29.1;
776  unsigned long echo_runtime_us = usonic_measure_single_shot_us(max_echo_run_time_us);
777  unsigned long distance_cm = echo_runtime_us * 0.0172;
778  //Serial.print("MEASURE_DISTANCE. Distance in cm is: ");
779  //Serial.println(distance_cm);
780  _usonic_distance_cm = distance_cm;
781  return(distance_cm);
782 }
+
+
+ +

◆ usonic_measure_single_shot_us() [2/2]

+ +
+
+ + + + + + + + +
unsigned long CodeRacer::usonic_measure_single_shot_us (unsigned long max_echo_run_time_us)
+
+ +

Measures the distance to the next object in front of the ultra sonic sensor in microseconds.

+

This is a one shot measurement. Be careful with high values for max_echo_run_time_us - this may increase run time due to the fact that if there is nothing in range of the sensor it will wait until this specified run time of the echo is over. The maximum range the sensor is specified for is about 300cm.

Parameters
+ + +
max_echo_run_time_usDefines the maximum echo run time in microseconds and by that the maximum of distance that can be measured.
+
+
+
Returns
The measured distance in microseconds.
+ +

Definition at line 791 of file CodeRacer.cpp.

+
792  {
793  unsigned long echo_runtime_us;
794  // start measurement - send a short pulse "HIGH" to the TRIG pin of the ultrasonic sensor
795  pinMode(_us_echo_pin, OUTPUT);
796  pinMode(_us_echo_pin, INPUT);
797  digitalWrite(_us_trigger_pin, LOW);
798  delayMicroseconds(2);
799  digitalWrite(_us_trigger_pin, HIGH);
800  delayMicroseconds(10);
801  digitalWrite(_us_trigger_pin, LOW);
802  // measure runtime in microseconds until the ECHO pin aof the sensor goes HIGH
803  echo_runtime_us = pulseInLong(_us_echo_pin, HIGH, max_echo_run_time_us);
804  if (echo_runtime_us == 0) {
805  echo_runtime_us = max_echo_run_time_us; // US_MAX_ECHO_TIME_US;
806  }
807  //Serial.print("MEASURE_DISTANCE_US. Echo runtime in us is: ");
808  //Serial.println(echo_runtime_us);
809  _usonic_distance_us = echo_runtime_us;
810  return(echo_runtime_us);
811  }
+
+
+
+
+ + + + diff --git a/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.js b/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.js new file mode 100644 index 0000000..ca0eb94 --- /dev/null +++ b/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.js @@ -0,0 +1,11 @@ +var group__lowerlevelusmeths = +[ + [ "usonic_measure_cm", "d6/dfc/group__lowerlevelusmeths.html#ga5f034198a28b069478c454c63dbfa225", null ], + [ "usonic_measure_us", "d6/dfc/group__lowerlevelusmeths.html#gaa01602a576fd57609bc7e08f8ef32e58", null ], + [ "usonic_measure_cm", "d6/dfc/group__lowerlevelusmeths.html#gafdd5c75d7a8e7b7c993e512ee93dde9a", null ], + [ "usonic_measure_us", "d6/dfc/group__lowerlevelusmeths.html#ga1f3401ef472cb11997e7dc98ef3e2424", null ], + [ "usonic_measure_single_shot_cm", "d6/dfc/group__lowerlevelusmeths.html#ga0c00edbbf4a3169613c9ea84d6e7dc13", null ], + [ "usonic_measure_single_shot_us", "d6/dfc/group__lowerlevelusmeths.html#gad4309b6da17085575fb0c55559e240b8", null ], + [ "usonic_measure_single_shot_cm", "d6/dfc/group__lowerlevelusmeths.html#gab413551ea8a67e1b60eda1671029b645", null ], + [ "usonic_measure_single_shot_us", "d6/dfc/group__lowerlevelusmeths.html#ga1b5b43372082f5daeee47410a09a590c", null ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.map b/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.map new file mode 100644 index 0000000..e6f1a45 --- /dev/null +++ b/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.map @@ -0,0 +1,3 @@ + + + diff --git a/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.md5 b/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.md5 new file mode 100644 index 0000000..9d6c8c9 --- /dev/null +++ b/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.md5 @@ -0,0 +1 @@ +8c86a47e7c3ee5eacbea426bb722fea2 \ No newline at end of file diff --git a/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.png b/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.png new file mode 100644 index 0000000..42cf950 Binary files /dev/null and b/Doku/Doxygen/html/d6/dfc/group__lowerlevelusmeths.png differ diff --git a/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.html b/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.html new file mode 100644 index 0000000..f0a537c --- /dev/null +++ b/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.html @@ -0,0 +1,108 @@ + + + + + + + +Arduino {code}racer API: Lower level LED methods + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Modules
+
+
Lower level LED methods
+
+
+ + + + +

+Modules

 Methods
 
+

Detailed Description

+
+
+ + + + diff --git a/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.js b/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.js new file mode 100644 index 0000000..35c31bf --- /dev/null +++ b/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.js @@ -0,0 +1,4 @@ +var group__lowerlevelled = +[ + [ "Methods", "dd/dff/group__lowerlevelledmeths.html", "dd/dff/group__lowerlevelledmeths" ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.map b/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.map new file mode 100644 index 0000000..3f89425 --- /dev/null +++ b/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.map @@ -0,0 +1,3 @@ + + + diff --git a/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.md5 b/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.md5 new file mode 100644 index 0000000..7380e68 --- /dev/null +++ b/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.md5 @@ -0,0 +1 @@ +ae42a26c171e691377cc1cea12a6b159 \ No newline at end of file diff --git a/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.png b/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.png new file mode 100644 index 0000000..8cf2dc7 Binary files /dev/null and b/Doku/Doxygen/html/d7/d0f/group__lowerlevelled.png differ diff --git a/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.html b/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.html new file mode 100644 index 0000000..b78d99c --- /dev/null +++ b/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.html @@ -0,0 +1,282 @@ + + + + + + + +Arduino {code}racer API: Getters and setters + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions
+
+
Getters and setters
Higher level methods, setters and getters
+
+
+ + + + + + + + + + + + + + + + + + + + + + + +

+Functions

bool CodeRacer::stopped_at_min_distance ()
 Returns true if the racer was stopped at minimum distance. This set to false each time start_stop_at_min_distance() is called. More...
 
bool CodeRacer::is_driving ()
 Return true if the racer is driving - forward or backward. More...
 
unsigned long CodeRacer::turn_left_for_ms ()
 Returns the duration of time that is internally stored and used for turning the racer left. More...
 
unsigned long CodeRacer::turn_right_for_ms ()
 Returns the duration of time that is internally stored and used for turning the racer left. More...
 
void CodeRacer::set_inactive ()
 Sets the coderracer_active state to inactive. If start_stop() is used - the inactive mode will be entered. More...
 
void CodeRacer::set_active ()
 Sets the coderracer_active state to active. If start_stop() is used - the active mode will be entered. More...
 
bool CodeRacer::is_active ()
 Checks if coderracer_activ is set. More...
 
+

Detailed Description

+

Function Documentation

+ +

◆ stopped_at_min_distance()

+ +
+
+ + + + + + + +
bool CodeRacer::stopped_at_min_distance ()
+
+ +

Returns true if the racer was stopped at minimum distance. This set to false each time start_stop_at_min_distance() is called.

+
Returns
True if stopped.
+ +

Definition at line 380 of file CodeRacer.cpp.

+
380  {
381  return(_coderacer_stopped_at_min_distance);
382 }
+
+
+ +

◆ is_driving()

+ +
+
+ + + + + + + +
bool CodeRacer::is_driving ()
+
+ +

Return true if the racer is driving - forward or backward.

+
Returns
True if driving forward or backward
+ +

Definition at line 387 of file CodeRacer.cpp.

+
387  {
388  return(_drive);
389 }
+
+
+ +

◆ turn_left_for_ms()

+ +
+
+ + + + + + + +
unsigned long CodeRacer::turn_left_for_ms ()
+
+ +

Returns the duration of time that is internally stored and used for turning the racer left.

+
Returns
Time to turn left in ms
+ +

Definition at line 394 of file CodeRacer.cpp.

+
394  {
395  return(_turn_left_for_ms);
396 }
+
+
+ +

◆ turn_right_for_ms()

+ +
+
+ + + + + + + +
unsigned long CodeRacer::turn_right_for_ms ()
+
+ +

Returns the duration of time that is internally stored and used for turning the racer left.

+
Returns
Time to turn left in ms
+ +

Definition at line 401 of file CodeRacer.cpp.

+
401  {
402  return(_turn_right_for_ms);
403 }
+
+
+ +

◆ set_inactive()

+ +
+
+ + + + + + + +
void CodeRacer::set_inactive ()
+
+ +

Sets the coderracer_active state to inactive. If start_stop() is used - the inactive mode will be entered.

+
Returns
nothing
+ +

Definition at line 408 of file CodeRacer.cpp.

+
408  {
409  coderracer_activ = false;
410 }
+
+
+ +

◆ set_active()

+ +
+
+ + + + + + + +
void CodeRacer::set_active ()
+
+ +

Sets the coderracer_active state to active. If start_stop() is used - the active mode will be entered.

+
Returns
nothing
+ +

Definition at line 415 of file CodeRacer.cpp.

+
415  {
416  coderracer_activ = true;
417 }
+
+
+ +

◆ is_active()

+ +
+
+ + + + + + + +
bool CodeRacer::is_active ()
+
+ +

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.

Returns
True id coderracer_activ is set - False if not.
+ +

Definition at line 424 of file CodeRacer.cpp.

+
424  {
425  return(coderracer_activ);
426 }
+
+
+
+
+ + + + diff --git a/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.js b/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.js new file mode 100644 index 0000000..f9662fd --- /dev/null +++ b/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.js @@ -0,0 +1,10 @@ +var group__higherlevelgetters = +[ + [ "stopped_at_min_distance", "d7/d45/group__higherlevelgetters.html#gae8b8c0ab24ccb572281785aeca8541e1", null ], + [ "is_driving", "d7/d45/group__higherlevelgetters.html#ga33dcd96e9b12dec794c56be85ec1ee05", null ], + [ "turn_left_for_ms", "d7/d45/group__higherlevelgetters.html#gaf04fd16ca0e2ace656f9549c43d16459", null ], + [ "turn_right_for_ms", "d7/d45/group__higherlevelgetters.html#gac0698f02f6a21d9d1f5b9cf2820306cf", null ], + [ "set_inactive", "d7/d45/group__higherlevelgetters.html#ga62f1c0eea56e27d0853cb58f30eb140d", null ], + [ "set_active", "d7/d45/group__higherlevelgetters.html#ga415c69930f291d5e06b7211b31843310", null ], + [ "is_active", "d7/d45/group__higherlevelgetters.html#gaa0ab4d6a754a23ea13664a553bcc8ff2", null ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.map b/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.map new file mode 100644 index 0000000..09cc176 --- /dev/null +++ b/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.map @@ -0,0 +1,3 @@ + + + diff --git a/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.md5 b/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.md5 new file mode 100644 index 0000000..f9b8790 --- /dev/null +++ b/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.md5 @@ -0,0 +1 @@ +0c88cc43f51cb6a9047b0307b81a6f18 \ No newline at end of file diff --git a/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.png b/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.png new file mode 100644 index 0000000..507ee33 Binary files /dev/null and b/Doku/Doxygen/html/d7/d45/group__higherlevelgetters.png differ diff --git a/Doku/Doxygen/html/d8/d7a/group__lowerlevelfun.html b/Doku/Doxygen/html/d8/d7a/group__lowerlevelfun.html new file mode 100644 index 0000000..4be1cb3 --- /dev/null +++ b/Doku/Doxygen/html/d8/d7a/group__lowerlevelfun.html @@ -0,0 +1,157 @@ + + + + + + + +Arduino {code}racer API: Lower level fun stuff methods + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions
+
+
Lower level fun stuff methods
+
+
+ + + + + + + + +

+Functions

void CodeRacer::look_around ()
 Fun stuff - will move the servo around after a random amount of time. More...
 
void CodeRacer::kitt ()
 Fun stuff - you know Knightrider... More...
 
+

Detailed Description

+

Function Documentation

+ +

◆ look_around()

+ +
+
+ + + + + + + +
void CodeRacer::look_around ()
+
+ +

Fun stuff - will move the servo around after a random amount of time.

+
Returns
nothing
+ +

Definition at line 440 of file CodeRacer.cpp.

+
441 {
442  if (_servo_look_around_at_ms < millis()) {
443  _servo_look_around_at_ms = millis() + random(FUN_MIN_PAUSE_MS, FUN_MAX_PAUSE_MS);
444  servo_set_to_left();
445  delay(500);
446  servo_set_to_right();
447  delay(800);
448  servo_set_to_center();
449  delay(300);
450  servo_set_to_left();
451  delay(100);
452  servo_set_to_center();
453  }
454 }
+
+
+ +

◆ kitt()

+ +
+
+ + + + + + + +
void CodeRacer::kitt ()
+
+ +

Fun stuff - you know Knightrider...

+
Returns
nothing
+ +

Definition at line 459 of file CodeRacer.cpp.

+
460 {
461  if (millis() - _last_led_switched_at_ms > LED_SWITCH_MS) {
462  _last_led_switched_at_ms = millis();
463  if (_last_led_on >= 5) {
464  _led_count = -1;
465  }
466  else if (_last_led_on <= 0) {
467  _led_count = 1;
468  }
469  _last_led_on = _last_led_on + _led_count;
470  switch (_last_led_on) {
471  case 0:
472  set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF);
473  break;
474  case 1:
475  set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF);
476  break;
477  case 2:
478  set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDOFF, LEDOFF);
479  break;
480  case 3:
481  set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF);
482  break;
483  case 4:
484  case 5:
485  set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDON);
486  break;
487  }
488  }
489 }
+
+
+
+
+ + + + diff --git a/Doku/Doxygen/html/d8/d7a/group__lowerlevelfun.js b/Doku/Doxygen/html/d8/d7a/group__lowerlevelfun.js new file mode 100644 index 0000000..fafb192 --- /dev/null +++ b/Doku/Doxygen/html/d8/d7a/group__lowerlevelfun.js @@ -0,0 +1,5 @@ +var group__lowerlevelfun = +[ + [ "look_around", "d8/d7a/group__lowerlevelfun.html#ga04309a38252639a8eaa43809c04c11c8", null ], + [ "kitt", "d8/d7a/group__lowerlevelfun.html#ga3b6f819fb82d910888fbc87abff1470c", null ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/d9/d80/group__higherlevel.html b/Doku/Doxygen/html/d9/d80/group__higherlevel.html new file mode 100644 index 0000000..d42e120 --- /dev/null +++ b/Doku/Doxygen/html/d9/d80/group__higherlevel.html @@ -0,0 +1,110 @@ + + + + + + + +Arduino {code}racer API: Higher level methods, setters and getters + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Modules
+
+
Higher level methods, setters and getters
+
+
+ + + + + + +

+Modules

 Methods
 
 Getters and setters
 
+

Detailed Description

+
+
+ + + + diff --git a/Doku/Doxygen/html/d9/d80/group__higherlevel.js b/Doku/Doxygen/html/d9/d80/group__higherlevel.js new file mode 100644 index 0000000..29780e9 --- /dev/null +++ b/Doku/Doxygen/html/d9/d80/group__higherlevel.js @@ -0,0 +1,5 @@ +var group__higherlevel = +[ + [ "Methods", "d2/d40/group__higherlevelmeths.html", "d2/d40/group__higherlevelmeths" ], + [ "Getters and setters", "d7/d45/group__higherlevelgetters.html", "d7/d45/group__higherlevelgetters" ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/d9/d80/group__higherlevel.map b/Doku/Doxygen/html/d9/d80/group__higherlevel.map new file mode 100644 index 0000000..1ea350c --- /dev/null +++ b/Doku/Doxygen/html/d9/d80/group__higherlevel.map @@ -0,0 +1,4 @@ + + + + diff --git a/Doku/Doxygen/html/d9/d80/group__higherlevel.md5 b/Doku/Doxygen/html/d9/d80/group__higherlevel.md5 new file mode 100644 index 0000000..7aaedc8 --- /dev/null +++ b/Doku/Doxygen/html/d9/d80/group__higherlevel.md5 @@ -0,0 +1 @@ +12cfd362df9c03991f2685cfc91fc9f2 \ No newline at end of file diff --git a/Doku/Doxygen/html/d9/d80/group__higherlevel.png b/Doku/Doxygen/html/d9/d80/group__higherlevel.png new file mode 100644 index 0000000..ffed6ba Binary files /dev/null and b/Doku/Doxygen/html/d9/d80/group__higherlevel.png differ diff --git a/Doku/Doxygen/html/da/daf/group__lowerlevelus.html b/Doku/Doxygen/html/da/daf/group__lowerlevelus.html new file mode 100644 index 0000000..8fc5906 --- /dev/null +++ b/Doku/Doxygen/html/da/daf/group__lowerlevelus.html @@ -0,0 +1,110 @@ + + + + + + + +Arduino {code}racer API: Lower level ultra sonic methods and getters + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Modules
+
+
Lower level ultra sonic methods and getters
+
+
+ + + + + + +

+Modules

 Methods
 
 Setters and getters
 
+

Detailed Description

+
+
+ + + + diff --git a/Doku/Doxygen/html/da/daf/group__lowerlevelus.js b/Doku/Doxygen/html/da/daf/group__lowerlevelus.js new file mode 100644 index 0000000..715835f --- /dev/null +++ b/Doku/Doxygen/html/da/daf/group__lowerlevelus.js @@ -0,0 +1,5 @@ +var group__lowerlevelus = +[ + [ "Methods", "d6/dfc/group__lowerlevelusmeths.html", "d6/dfc/group__lowerlevelusmeths" ], + [ "Setters and getters", "db/ddd/group__lowerlevelusgetters.html", "db/ddd/group__lowerlevelusgetters" ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/da/daf/group__lowerlevelus.map b/Doku/Doxygen/html/da/daf/group__lowerlevelus.map new file mode 100644 index 0000000..b07fb2c --- /dev/null +++ b/Doku/Doxygen/html/da/daf/group__lowerlevelus.map @@ -0,0 +1,4 @@ + + + + diff --git a/Doku/Doxygen/html/da/daf/group__lowerlevelus.md5 b/Doku/Doxygen/html/da/daf/group__lowerlevelus.md5 new file mode 100644 index 0000000..7b87cab --- /dev/null +++ b/Doku/Doxygen/html/da/daf/group__lowerlevelus.md5 @@ -0,0 +1 @@ +35f9114c2fb61134b1d44a4ab7152af0 \ No newline at end of file diff --git a/Doku/Doxygen/html/da/daf/group__lowerlevelus.png b/Doku/Doxygen/html/da/daf/group__lowerlevelus.png new file mode 100644 index 0000000..b1bace1 Binary files /dev/null and b/Doku/Doxygen/html/da/daf/group__lowerlevelus.png differ diff --git a/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.html b/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.html new file mode 100644 index 0000000..455d4ec --- /dev/null +++ b/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.html @@ -0,0 +1,335 @@ + + + + + + + +Arduino {code}racer API: Methods + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions
+
+
Methods
Lower level servo drive methods and getters
+
+
+ + + + + + + + + + + + + + + + + + + + + + + +

+Functions

void CodeRacer::servo_settings (uint8_t pos_center, uint8_t pos_left, uint8_t pos_right, uint8_t sweep_left_pos, uint8_t sweep_right_pos)
 Overwrites the default settings taken from header file by the parameters given to this method. More...
 
void CodeRacer::servo_sweep ()
 Turns sweeping of the servo from left to right and back on. More...
 
void CodeRacer::servo_set_to_right ()
 Drives the servo to the postion that is defined by #servo_right_pos. More...
 
void CodeRacer::servo_set_to_left ()
 Drives the servo to the postion that is defined by #servo_left_pos. More...
 
void CodeRacer::servo_set_to_center ()
 Drives the servo to the postion that is defined by #servo_center_pos. More...
 
uint8_t CodeRacer::servo_set_position_wait (uint8_t position)
 Drive the servo to the postion given to this method. More...
 
unsigned long CodeRacer::servo_set_position (uint8_t position)
 Drive the servo to the postion given to this method. More...
 
+

Detailed Description

+

Function Documentation

+ +

◆ servo_settings()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void CodeRacer::servo_settings (uint8_t pos_center,
uint8_t pos_left,
uint8_t pos_right,
uint8_t sweep_left_pos,
uint8_t sweep_right_pos 
)
+
+ +

Overwrites the default settings taken from header file by the parameters given to this method.

+
Parameters
+ + + + + + +
pos_centerThe postion at which the servo moves to straight forward. Default is 90. Allowed 10 <= pos_center <= 170.
pos_leftThe postion at which the servo moves to the left. Default is 170. Allowed 10 <= pos_center <= 170.
pos_rightThe postion at which the servo moves to the right. Default is 10. Allowed 10 <= pos_center <= 170.
sweep_left_posIf the servo is sweeping from left to the right - this defines the most left postion. Default is 140. Allowed 10 <= pos_center <= 170.
sweep_right_posIf the servo is sweeping from left to the right - this defines the most right postion. Default is 40. Allowed 10 <= pos_center <= 170.
+
+
+
Returns
nothing
+ +

Definition at line 510 of file CodeRacer.cpp.

+
511 {
512  servo_center_pos = pos_center;
513  servo_left_pos = pos_left;
514  servo_right_pos = pos_right;
515  servo_sweep_left_pos = sweep_left_pos;
516  servo_sweep_right_pos = sweep_right_pos;
517 }
+
+
+ +

◆ servo_sweep()

+ +
+
+ + + + + + + +
void CodeRacer::servo_sweep ()
+
+ +

Turns sweeping of the servo from left to right and back on.

+

The sweeping range is defind by #servo_sweep_left_pos and #servo_sweep_right_pos attributes. Both can be set by either servo_settings() or as public members. Every time servo_sweep() is called the servo is driven by 5 steps until either #servo_sweep_left_pos or #servo_sweep_right_pos is reached. Then it will turn the direction and step to the other side every time this method is called.

Returns
nothing
+ +

Definition at line 526 of file CodeRacer.cpp.

+
527 {
528  uint8_t position;
529  _servo_sweep = true;
530  if (millis() - _servo_position_set_at_ms > SERVO_SWEEP_MS) {
531  position = _servo_position + _servo_sweep_step;
532  //sprintf(_debugmsg,"[%s] current position=%ld newpostion=%ld", __func__, _servo_position, position);
533  if ((position >= servo_sweep_left_pos) || (position >= SERVO_MAX_POSITION)) {
534  position = servo_sweep_left_pos;
535  _servo_sweep_step = SERVO_SWEEP_TO_RIGHT_STEP;
536  }
537  if ((position <= servo_sweep_right_pos) || (position <= SERVO_MIN_POSITION)) {
538  position = servo_sweep_right_pos;
539  _servo_sweep_step = SERVO_SWEEP_TO_LEFT_STEP;
540  }
541  _servo_set_position(position);
542  }
543 }
+
+
+ +

◆ servo_set_to_right()

+ +
+
+ + + + + + + +
void CodeRacer::servo_set_to_right ()
+
+ +

Drives the servo to the postion that is defined by #servo_right_pos.

+
Returns
nothing
+ +

Definition at line 548 of file CodeRacer.cpp.

+
549 {
550  servo_set_position_wait(servo_right_pos);
551 }
+
+
+ +

◆ servo_set_to_left()

+ +
+
+ + + + + + + +
void CodeRacer::servo_set_to_left ()
+
+ +

Drives the servo to the postion that is defined by #servo_left_pos.

+
Returns
nothing
+ +

Definition at line 556 of file CodeRacer.cpp.

+
557 {
558  servo_set_position_wait(servo_left_pos);
559 }
+
+
+ +

◆ servo_set_to_center()

+ +
+
+ + + + + + + +
void CodeRacer::servo_set_to_center ()
+
+ +

Drives the servo to the postion that is defined by #servo_center_pos.

+
Returns
nothing
+ +

Definition at line 564 of file CodeRacer.cpp.

+
565 {
566  servo_set_position_wait(servo_center_pos);
567 }
+
+
+ +

◆ servo_set_position_wait()

+ +
+
+ + + + + + + + +
uint8_t CodeRacer::servo_set_position_wait (uint8_t position)
+
+ +

Drive the servo to the postion given to this method.

+

The method will wait until the servo has reached its new position.

Parameters
+ + +
positionPosition the servo will be drived to. Allowed are values 10<=postion<=170. 10 is at the right hand side, 170 at the left hand side.
+
+
+
Returns
The new servo position
+ +

Definition at line 575 of file CodeRacer.cpp.

+
576 {
577  _servo_sweep = false;
578  unsigned long wait_time_ms = _servo_set_position(position);
579  delay(wait_time_ms);
580  return(_servo_position);
581 }
+
+
+ +

◆ servo_set_position()

+ +
+
+ + + + + + + + +
unsigned long CodeRacer::servo_set_position (uint8_t position)
+
+ +

Drive the servo to the postion given to this method.

+

The method will not wait until the servo has reached its new position.

Parameters
+ + +
positionPosition the servo will be drived to. Allowed are values 10<=postion<=170. 10 is at the right hand side, 170 at the left hand side.
+
+
+
Returns
The time in ms the servo will need to reach the new position
+ +

Definition at line 589 of file CodeRacer.cpp.

+
590 {
591  _servo_sweep = false;
592  unsigned long wait_time_ms = _servo_set_position(position);
593  return(wait_time_ms);
594 }
+
+
+
+
+ + + + diff --git a/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.js b/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.js new file mode 100644 index 0000000..31816e6 --- /dev/null +++ b/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.js @@ -0,0 +1,10 @@ +var group__lowerlevelservomeths = +[ + [ "servo_settings", "db/dd5/group__lowerlevelservomeths.html#ga687beb327e20f4d0541d1ac9e29c01c3", null ], + [ "servo_sweep", "db/dd5/group__lowerlevelservomeths.html#ga1e9afe1f27dfc9796b4c9b3dba245365", null ], + [ "servo_set_to_right", "db/dd5/group__lowerlevelservomeths.html#gaac73bf99cf2d19f7b1987156aa842b74", null ], + [ "servo_set_to_left", "db/dd5/group__lowerlevelservomeths.html#gaef7d1903b65a0a8ab4fafdc53080b07d", null ], + [ "servo_set_to_center", "db/dd5/group__lowerlevelservomeths.html#gad1f28aa91079e88fc3093e3074edfb32", null ], + [ "servo_set_position_wait", "db/dd5/group__lowerlevelservomeths.html#ga0149226288bff2290d52ed1cbd674edd", null ], + [ "servo_set_position", "db/dd5/group__lowerlevelservomeths.html#gab8831340049de6dbddeda997745725e6", null ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.map b/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.map new file mode 100644 index 0000000..7a7777f --- /dev/null +++ b/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.map @@ -0,0 +1,3 @@ + + + diff --git a/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.md5 b/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.md5 new file mode 100644 index 0000000..85f67fb --- /dev/null +++ b/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.md5 @@ -0,0 +1 @@ +597c50e7dc706800e2ae683735d343f0 \ No newline at end of file diff --git a/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.png b/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.png new file mode 100644 index 0000000..acf96f0 Binary files /dev/null and b/Doku/Doxygen/html/db/dd5/group__lowerlevelservomeths.png differ diff --git a/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.html b/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.html new file mode 100644 index 0000000..beddaac --- /dev/null +++ b/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.html @@ -0,0 +1,221 @@ + + + + + + + +Arduino {code}racer API: Setters and getters + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions
+
+
Setters and getters
Lower level ultra sonic methods and getters
+
+
+ + + + + + + + + + + + + + +

+Functions

void CodeRacer::usonic_set_stop_distance_cm (unsigned long stop_distance_cm)
 Sets the stop distance in cm. More...
 
void CodeRacer::usonic_set_stop_distance_us (unsigned long stop_distance_us)
 Sets the stop distance in cm. More...
 
unsigned long CodeRacer::usonic_distance_us ()
 Returns the last measured distance in microseconds. More...
 
unsigned long CodeRacer::usonic_distance_cm ()
 Returns the last measured distance in cm. More...
 
+

Detailed Description

+

Function Documentation

+ +

◆ usonic_set_stop_distance_cm()

+ +
+
+ + + + + + + + +
void CodeRacer::usonic_set_stop_distance_cm (unsigned long stop_distance_cm)
+
+ +

Sets the stop distance in cm.

+

If start_stop_at_min_distance() is used and distance measured with one of the measurement methods - the racer will be stopped immediately. All except the singe shot methods of the ultra sonic measurements methods supports that. Internally the stop distance will be set as both - in cm and in microseconds.

Parameters
+ + +
stop_distance_cmDistance in cm the racer will be stopped if that features was enabled by start_stop_at_min_distance() before.
+
+
+
Returns
nothing
+ +

Definition at line 825 of file CodeRacer.cpp.

+
826 {
827  _usonic_stop_distance_us = stop_distance_cm * 58.14;
828 }
+
+
+ +

◆ usonic_set_stop_distance_us()

+ +
+
+ + + + + + + + +
void CodeRacer::usonic_set_stop_distance_us (unsigned long stop_distance_us)
+
+ +

Sets the stop distance in cm.

+

If start_stop_at_min_distance() is used and distance measured with one of the measurement methods - the racer will be stopped immediately. All except the singe shot methods of the ultra sonic measurements methods supports that. Internally the stop distance will be set as both - in cm and in microseconds.

Parameters
+ + +
stop_distance_usDistance in cm the racer will be stopped if that features was enabled by start_stop_at_min_distance() before.
+
+
+
Returns
nothing
+ +

Definition at line 837 of file CodeRacer.cpp.

+
838 {
839  _usonic_stop_distance_us = stop_distance_us;
840 }
+
+
+ +

◆ usonic_distance_us()

+ +
+
+ + + + + + + +
unsigned long CodeRacer::usonic_distance_us ()
+
+ +

Returns the last measured distance in microseconds.

+
Returns
Distance in microseconds
+ +

Definition at line 845 of file CodeRacer.cpp.

+
845  {
846  return(_usonic_distance_us);
847 }
+
+
+ +

◆ usonic_distance_cm()

+ +
+
+ + + + + + + +
unsigned long CodeRacer::usonic_distance_cm ()
+
+ +

Returns the last measured distance in cm.

+
Returns
Distance in cm
+ +

Definition at line 852 of file CodeRacer.cpp.

+
852  {
853  return(_usonic_distance_cm);
854 }
+
+
+
+
+ + + + diff --git a/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.js b/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.js new file mode 100644 index 0000000..33d391f --- /dev/null +++ b/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.js @@ -0,0 +1,7 @@ +var group__lowerlevelusgetters = +[ + [ "usonic_set_stop_distance_cm", "db/ddd/group__lowerlevelusgetters.html#gaa7c5a6563a5736ed38d12f616de480df", null ], + [ "usonic_set_stop_distance_us", "db/ddd/group__lowerlevelusgetters.html#ga2f06c193ae86c5b1cba450caf5adf146", null ], + [ "usonic_distance_us", "db/ddd/group__lowerlevelusgetters.html#ga917b90f21e731ef5f690d5198e7f4d3e", null ], + [ "usonic_distance_cm", "db/ddd/group__lowerlevelusgetters.html#gad59842c14196598e55644b2a22621454", null ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.map b/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.map new file mode 100644 index 0000000..067e2ec --- /dev/null +++ b/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.map @@ -0,0 +1,3 @@ + + + diff --git a/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.md5 b/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.md5 new file mode 100644 index 0000000..2541f41 --- /dev/null +++ b/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.md5 @@ -0,0 +1 @@ +2ea30e8364ac6dafffce41eb4e6f6037 \ No newline at end of file diff --git a/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.png b/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.png new file mode 100644 index 0000000..9248f22 Binary files /dev/null and b/Doku/Doxygen/html/db/ddd/group__lowerlevelusgetters.png differ diff --git a/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.html b/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.html new file mode 100644 index 0000000..41f6cdc --- /dev/null +++ b/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.html @@ -0,0 +1,246 @@ + + + + + + + +Arduino {code}racer API: Methods + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions
+
+
Methods
Lower level LED methods
+
+
+ + + + + + + + + + + + + + +

+Functions

void CodeRacer::set_leds_left_stop_frwd_right (ledstate leftled, ledstate stopled, ledstate frwdled, ledstate rightled)
 Sets all of the 4 LEDs to a ledstate (LEDON, LEDOFF) More...
 
void CodeRacer::set_leds_all (ledstate alleds)
 Sets all of the 4 LEDs to the same ledstate (LEDON, LEDOFF) More...
 
void CodeRacer::set_leds_all_off ()
 Sets all of the 4 LEDs to the ledstate LEDOFF. More...
 
void CodeRacer::set_leds_all_on ()
 Sets all of the 4 LEDs to the ledstate LEDON. More...
 
+

Detailed Description

+

Function Documentation

+ +

◆ set_leds_left_stop_frwd_right()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void CodeRacer::set_leds_left_stop_frwd_right (ledstate leftled,
ledstate stopled,
ledstate frwdled,
ledstate rightled 
)
+
+ +

Sets all of the 4 LEDs to a ledstate (LEDON, LEDOFF)

+
Parameters
+ + + + + +
leftledset state of status left LED (most left yellow led)
stopledset state of status stop LED (red led)
frwdledset state of status forward LED (green or blue led)
rightledset state of status right LED (most right yellow led)
+
+
+
Returns
nothing
+ +

Definition at line 1037 of file CodeRacer.cpp.

+
1037  {
1038  digitalWrite(_led_left_pin, leftled);
1039  digitalWrite(_led_frwd_pin, frwdled);
1040  digitalWrite(_led_right_pin, rightled);
1041  digitalWrite(_led_stop_pin, stopled);
1042 }
+
+
+ +

◆ set_leds_all()

+ +
+
+ + + + + + + + +
void CodeRacer::set_leds_all (ledstate alleds)
+
+ +

Sets all of the 4 LEDs to the same ledstate (LEDON, LEDOFF)

+
Parameters
+ + +
alledsset state to all status LEDs
+
+
+
Returns
nothing
+ +

Definition at line 1048 of file CodeRacer.cpp.

+
1048  {
1049  digitalWrite(_led_left_pin, alleds);
1050  digitalWrite(_led_frwd_pin, alleds);
1051  digitalWrite(_led_right_pin, alleds);
1052  digitalWrite(_led_stop_pin, alleds);
1053 }
+
+
+ +

◆ set_leds_all_off()

+ +
+
+ + + + + + + +
void CodeRacer::set_leds_all_off ()
+
+ +

Sets all of the 4 LEDs to the ledstate LEDOFF.

+
Returns
nothing
+ +

Definition at line 1058 of file CodeRacer.cpp.

+
1058  {
1059  set_leds_all(LEDOFF);
1060 }
+
+
+ +

◆ set_leds_all_on()

+ +
+
+ + + + + + + +
void CodeRacer::set_leds_all_on ()
+
+ +

Sets all of the 4 LEDs to the ledstate LEDON.

+
Returns
nothing
+ +

Definition at line 1065 of file CodeRacer.cpp.

+
1065  {
1066  set_leds_all(LEDON);
1067 }
+
+
+
+
+ + + + diff --git a/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.js b/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.js new file mode 100644 index 0000000..b215041 --- /dev/null +++ b/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.js @@ -0,0 +1,7 @@ +var group__lowerlevelledmeths = +[ + [ "set_leds_left_stop_frwd_right", "dd/dff/group__lowerlevelledmeths.html#gab2514ca3994de3d64337dd6536fa6ef3", null ], + [ "set_leds_all", "dd/dff/group__lowerlevelledmeths.html#gab4319e66963b1b71a34370d73962fa78", null ], + [ "set_leds_all_off", "dd/dff/group__lowerlevelledmeths.html#gaa3f2ad08103127f2cb49344c33b666ea", null ], + [ "set_leds_all_on", "dd/dff/group__lowerlevelledmeths.html#ga0c8b3d6ce992e1dcfd13fd86c9f89846", null ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.map b/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.map new file mode 100644 index 0000000..e62e212 --- /dev/null +++ b/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.map @@ -0,0 +1,3 @@ + + + diff --git a/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.md5 b/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.md5 new file mode 100644 index 0000000..68186e4 --- /dev/null +++ b/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.md5 @@ -0,0 +1 @@ +92c6efd7535f583cf9e0049790e5e563 \ No newline at end of file diff --git a/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.png b/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.png new file mode 100644 index 0000000..656cf74 Binary files /dev/null and b/Doku/Doxygen/html/dd/dff/group__lowerlevelledmeths.png differ diff --git a/Doku/Doxygen/html/dir_11f10faf8e1af149a19b120728e5c8cd.html b/Doku/Doxygen/html/dir_11f10faf8e1af149a19b120728e5c8cd.html new file mode 100644 index 0000000..09b50b4 --- /dev/null +++ b/Doku/Doxygen/html/dir_11f10faf8e1af149a19b120728e5c8cd.html @@ -0,0 +1,100 @@ + + + + + + + +Arduino {code}racer API: C:/Users/jnoack/Documents/Arduino/libraries/CodeRacer Directory Reference + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
CodeRacer Directory Reference
+
+
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+ var summary = $('#'+base+'-summary'); + var content = $('#'+base+'-content'); + var trigger = $('#'+base+'-trigger'); + var src=$(trigger).attr('src'); + if (content.is(':visible')===true) { + content.hide(); + summary.show(); + $(linkObj).addClass('closed').removeClass('opened'); + $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png'); + } else { + content.show(); + summary.hide(); + $(linkObj).removeClass('closed').addClass('opened'); + $(trigger).attr('src',src.substring(0,src.length-10)+'open.png'); + } + return false; +} + +function updateStripes() +{ + $('table.directory tr'). + removeClass('even').filter(':visible:even').addClass('even'); +} + +function toggleLevel(level) +{ + $('table.directory tr').each(function() { + var l = this.id.split('_').length-1; + var i = $('#img'+this.id.substring(3)); + var a = $('#arr'+this.id.substring(3)); + if (l + + + + + + +Arduino {code}racer API: Graph Legend + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
Graph Legend
+
+
+

This page explains how to interpret the graphs that are generated by doxygen.

+

Consider the following example:

/*! Invisible class because of truncation */
class Invisible { };
/*! Truncated class, inheritance relation is hidden */
class Truncated : public Invisible { };
/* Class not documented with doxygen comments */
class Undocumented { };
/*! Class that is inherited using public inheritance */
class PublicBase : public Truncated { };
/*! A template class */
template<class T> class Templ { };
/*! Class that is inherited using protected inheritance */
class ProtectedBase { };
/*! Class that is inherited using private inheritance */
class PrivateBase { };
/*! Class that is used by the Inherited class */
class Used { };
/*! Super class that inherits a number of other classes */
class Inherited : public PublicBase,
protected ProtectedBase,
private PrivateBase,
public Undocumented,
public Templ<int>
{
private:
Used *m_usedClass;
};

This will result in the following graph:

+
+ +
+

The boxes in the above graph have the following meaning:

+
    +
  • +A filled gray box represents the struct or class for which the graph is generated.
    • +
  • +A box with a black border denotes a documented struct or class.
    • +
  • +A box with a gray border denotes an undocumented struct or class.
    • +
  • +A box with a red border denotes a documented struct or class forwhich not all inheritance/containment relations are shown. A graph is truncated if it does not fit within the specified boundaries.
    • +
+

The arrows have the following meaning:

+
    +
  • +A dark blue arrow is used to visualize a public inheritance relation between two classes.
    • +
  • +A dark green arrow is used for protected inheritance.
    • +
  • +A dark red arrow is used for private inheritance.
    • +
  • +A purple dashed arrow is used if a class is contained or used by another class. The arrow is labelled with the variable(s) through which the pointed class or struct is accessible.
    • +
  • +A yellow dashed arrow denotes a relation between a template instance and the template class it was instantiated from. The arrow is labelled with the template parameters of the instance.
    • +
+
+
+ + + + diff --git a/Doku/Doxygen/html/graph_legend.md5 b/Doku/Doxygen/html/graph_legend.md5 new file mode 100644 index 0000000..a06ed05 --- /dev/null +++ b/Doku/Doxygen/html/graph_legend.md5 @@ -0,0 +1 @@ +387ff8eb65306fa251338d3c9bd7bfff \ No newline at end of file diff --git a/Doku/Doxygen/html/graph_legend.png b/Doku/Doxygen/html/graph_legend.png new file mode 100644 index 0000000..e303709 Binary files /dev/null and b/Doku/Doxygen/html/graph_legend.png differ diff --git a/Doku/Doxygen/html/index.html b/Doku/Doxygen/html/index.html new file mode 100644 index 0000000..c2e1db8 --- /dev/null +++ b/Doku/Doxygen/html/index.html @@ -0,0 +1,99 @@ + + + + + + + +Arduino {code}racer API: Main Page + + + + + + + + + + + + + + +
+
+ + + + + + + +
+
Arduino {code}racer API +
+
... better know the details.
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+
Arduino {code}racer API Documentation
+
+
+
+
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0},disableSelection:function(){return this.bind((a.support.selectstart?"selectstart":"mousedown")+".ui-disableSelection",function(e){e.preventDefault()})},enableSelection:function(){return this.unbind(".ui-disableSelection")}});a.each(["Width","Height"],function(g,e){var f=e==="Width"?["Left","Right"]:["Top","Bottom"],h=e.toLowerCase(),k={innerWidth:a.fn.innerWidth,innerHeight:a.fn.innerHeight,outerWidth:a.fn.outerWidth,outerHeight:a.fn.outerHeight};function j(m,l,i,n){a.each(f,function(){l-=parseFloat(a.curCSS(m,"padding"+this,true))||0;if(i){l-=parseFloat(a.curCSS(m,"border"+this+"Width",true))||0}if(n){l-=parseFloat(a.curCSS(m,"margin"+this,true))||0}});return l}a.fn["inner"+e]=function(i){if(i===d){return k["inner"+e].call(this)}return this.each(function(){a(this).css(h,j(this,i)+"px")})};a.fn["outer"+e]=function(i,l){if(typeof i!=="number"){return k["outer"+e].call(this,i)}return this.each(function(){a(this).css(h,j(this,i,true,l)+"px")})}});function c(g,e){var j=g.nodeName.toLowerCase();if("area"===j){var i=g.parentNode,h=i.name,f;if(!g.href||!h||i.nodeName.toLowerCase()!=="map"){return false}f=a("img[usemap=#"+h+"]")[0];return !!f&&b(f)}return(/input|select|textarea|button|object/.test(j)?!g.disabled:"a"==j?g.href||e:e)&&b(g)}function b(e){return !a(e).parents().andSelf().filter(function(){return a.curCSS(this,"visibility")==="hidden"||a.expr.filters.hidden(this)}).length}a.extend(a.expr[":"],{data:function(g,f,e){return !!a.data(g,e[3])},focusable:function(e){return c(e,!isNaN(a.attr(e,"tabindex")))},tabbable:function(g){var e=a.attr(g,"tabindex"),f=isNaN(e);return(f||e>=0)&&c(g,!f)}});a(function(){var e=document.body,f=e.appendChild(f=document.createElement("div"));f.offsetHeight;a.extend(f.style,{minHeight:"100px",height:"auto",padding:0,borderWidth:0});a.support.minHeight=f.offsetHeight===100;a.support.selectstart="onselectstart" in f;e.removeChild(f).style.display="none"});a.extend(a.ui,{plugin:{add:function(f,g,j){var h=a.ui[f].prototype;for(var e in j){h.plugins[e]=h.plugins[e]||[];h.plugins[e].push([g,j[e]])}},call:function(e,g,f){var j=e.plugins[g];if(!j||!e.element[0].parentNode){return}for(var h=0;h0){return true}h[e]=1;g=(h[e]>0);h[e]=0;return g},isOverAxis:function(f,e,g){return(f>e)&&(f<(e+g))},isOver:function(j,f,i,h,e,g){return a.ui.isOverAxis(j,i,e)&&a.ui.isOverAxis(f,h,g)}})})(jQuery);/*! + * jQuery UI Widget 1.8.18 + * + * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about) + * Dual licensed under the MIT or GPL Version 2 licenses. + * http://jquery.org/license + * + * http://docs.jquery.com/UI/Widget + */ +(function(b,d){if(b.cleanData){var c=b.cleanData;b.cleanData=function(f){for(var g=0,h;(h=f[g])!=null;g++){try{b(h).triggerHandler("remove")}catch(j){}}c(f)}}else{var a=b.fn.remove;b.fn.remove=function(e,f){return this.each(function(){if(!f){if(!e||b.filter(e,[this]).length){b("*",this).add([this]).each(function(){try{b(this).triggerHandler("remove")}catch(g){}})}}return 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http://jquery.org/license + * + * http://docs.jquery.com/UI/Mouse + * + * Depends: + * jquery.ui.widget.js + */ +(function(b,c){var a=false;b(document).mouseup(function(d){a=false});b.widget("ui.mouse",{options:{cancel:":input,option",distance:1,delay:0},_mouseInit:function(){var d=this;this.element.bind("mousedown."+this.widgetName,function(e){return d._mouseDown(e)}).bind("click."+this.widgetName,function(e){if(true===b.data(e.target,d.widgetName+".preventClickEvent")){b.removeData(e.target,d.widgetName+".preventClickEvent");e.stopImmediatePropagation();return false}});this.started=false},_mouseDestroy:function(){this.element.unbind("."+this.widgetName)},_mouseDown:function(f){if(a){return}(this._mouseStarted&&this._mouseUp(f));this._mouseDownEvent=f;var e=this,g=(f.which==1),d=(typeof this.options.cancel=="string"&&f.target.nodeName?b(f.target).closest(this.options.cancel).length:false);if(!g||d||!this._mouseCapture(f)){return true}this.mouseDelayMet=!this.options.delay;if(!this.mouseDelayMet){this._mouseDelayTimer=setTimeout(function(){e.mouseDelayMet=true},this.options.delay)}if(this._mouseDistanceMet(f)&&this._mouseDelayMet(f)){this._mouseStarted=(this._mouseStart(f)!==false);if(!this._mouseStarted){f.preventDefault();return true}}if(true===b.data(f.target,this.widgetName+".preventClickEvent")){b.removeData(f.target,this.widgetName+".preventClickEvent")}this._mouseMoveDelegate=function(h){return e._mouseMove(h)};this._mouseUpDelegate=function(h){return e._mouseUp(h)};b(document).bind("mousemove."+this.widgetName,this._mouseMoveDelegate).bind("mouseup."+this.widgetName,this._mouseUpDelegate);f.preventDefault();a=true;return true},_mouseMove:function(d){if(b.browser.msie&&!(document.documentMode>=9)&&!d.button){return this._mouseUp(d)}if(this._mouseStarted){this._mouseDrag(d);return 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true}})})(jQuery);(function(c,d){c.widget("ui.resizable",c.ui.mouse,{widgetEventPrefix:"resize",options:{alsoResize:false,animate:false,animateDuration:"slow",animateEasing:"swing",aspectRatio:false,autoHide:false,containment:false,ghost:false,grid:false,handles:"e,s,se",helper:false,maxHeight:null,maxWidth:null,minHeight:10,minWidth:10,zIndex:1000},_create:function(){var f=this,k=this.options;this.element.addClass("ui-resizable");c.extend(this,{_aspectRatio:!!(k.aspectRatio),aspectRatio:k.aspectRatio,originalElement:this.element,_proportionallyResizeElements:[],_helper:k.helper||k.ghost||k.animate?k.helper||"ui-resizable-helper":null});if(this.element[0].nodeName.match(/canvas|textarea|input|select|button|img/i)){this.element.wrap(c('
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');if(/sw|se|ne|nw/.test(j)){h.css({zIndex:++k.zIndex})}if("se"==j){h.addClass("ui-icon ui-icon-gripsmall-diagonal-se")}this.handles[j]=".ui-resizable-"+j;this.element.append(h)}}this._renderAxis=function(q){q=q||this.element;for(var n in this.handles){if(this.handles[n].constructor==String){this.handles[n]=c(this.handles[n],this.element).show()}if(this.elementIsWrapper&&this.originalElement[0].nodeName.match(/textarea|input|select|button/i)){var o=c(this.handles[n],this.element),p=0;p=/sw|ne|nw|se|n|s/.test(n)?o.outerHeight():o.outerWidth();var m=["padding",/ne|nw|n/.test(n)?"Top":/se|sw|s/.test(n)?"Bottom":/^e$/.test(n)?"Right":"Left"].join("");q.css(m,p);this._proportionallyResize()}if(!c(this.handles[n]).length){continue}}};this._renderAxis(this.element);this._handles=c(".ui-resizable-handle",this.element).disableSelection();this._handles.mouseover(function(){if(!f.resizing){if(this.className){var i=this.className.match(/ui-resizable-(se|sw|ne|nw|n|e|s|w)/i)}f.axis=i&&i[1]?i[1]:"se"}});if(k.autoHide){this._handles.hide();c(this.element).addClass("ui-resizable-autohide").hover(function(){if(k.disabled){return}c(this).removeClass("ui-resizable-autohide");f._handles.show()},function(){if(k.disabled){return}if(!f.resizing){c(this).addClass("ui-resizable-autohide");f._handles.hide()}})}this._mouseInit()},destroy:function(){this._mouseDestroy();var e=function(g){c(g).removeClass("ui-resizable ui-resizable-disabled ui-resizable-resizing").removeData("resizable").unbind(".resizable").find(".ui-resizable-handle").remove()};if(this.elementIsWrapper){e(this.element);var f=this.element;f.after(this.originalElement.css({position:f.css("position"),width:f.outerWidth(),height:f.outerHeight(),top:f.css("top"),left:f.css("left")})).remove()}this.originalElement.css("resize",this.originalResizeStyle);e(this.originalElement);return this},_mouseCapture:function(f){var g=false;for(var e in this.handles){if(c(this.handles[e])[0]==f.target){g=true}}return !this.options.disabled&&g},_mouseStart:function(g){var j=this.options,f=this.element.position(),e=this.element;this.resizing=true;this.documentScroll={top:c(document).scrollTop(),left:c(document).scrollLeft()};if(e.is(".ui-draggable")||(/absolute/).test(e.css("position"))){e.css({position:"absolute",top:f.top,left:f.left})}this._renderProxy();var k=b(this.helper.css("left")),h=b(this.helper.css("top"));if(j.containment){k+=c(j.containment).scrollLeft()||0;h+=c(j.containment).scrollTop()||0}this.offset=this.helper.offset();this.position={left:k,top:h};this.size=this._helper?{width:e.outerWidth(),height:e.outerHeight()}:{width:e.width(),height:e.height()};this.originalSize=this._helper?{width:e.outerWidth(),height:e.outerHeight()}:{width:e.width(),height:e.height()};this.originalPosition={left:k,top:h};this.sizeDiff={width:e.outerWidth()-e.width(),height:e.outerHeight()-e.height()};this.originalMousePosition={left:g.pageX,top:g.pageY};this.aspectRatio=(typeof j.aspectRatio=="number")?j.aspectRatio:((this.originalSize.width/this.originalSize.height)||1);var i=c(".ui-resizable-"+this.axis).css("cursor");c("body").css("cursor",i=="auto"?this.axis+"-resize":i);e.addClass("ui-resizable-resizing");this._propagate("start",g);return true},_mouseDrag:function(e){var h=this.helper,g=this.options,m={},q=this,j=this.originalMousePosition,n=this.axis;var r=(e.pageX-j.left)||0,p=(e.pageY-j.top)||0;var i=this._change[n];if(!i){return false}var l=i.apply(this,[e,r,p]),k=c.browser.msie&&c.browser.version<7,f=this.sizeDiff;this._updateVirtualBoundaries(e.shiftKey);if(this._aspectRatio||e.shiftKey){l=this._updateRatio(l,e)}l=this._respectSize(l,e);this._propagate("resize",e);h.css({top:this.position.top+"px",left:this.position.left+"px",width:this.size.width+"px",height:this.size.height+"px"});if(!this._helper&&this._proportionallyResizeElements.length){this._proportionallyResize()}this._updateCache(l);this._trigger("resize",e,this.ui());return false},_mouseStop:function(h){this.resizing=false;var i=this.options,m=this;if(this._helper){var g=this._proportionallyResizeElements,e=g.length&&(/textarea/i).test(g[0].nodeName),f=e&&c.ui.hasScroll(g[0],"left")?0:m.sizeDiff.height,k=e?0:m.sizeDiff.width;var n={width:(m.helper.width()-k),height:(m.helper.height()-f)},j=(parseInt(m.element.css("left"),10)+(m.position.left-m.originalPosition.left))||null,l=(parseInt(m.element.css("top"),10)+(m.position.top-m.originalPosition.top))||null;if(!i.animate){this.element.css(c.extend(n,{top:l,left:j}))}m.helper.height(m.size.height);m.helper.width(m.size.width);if(this._helper&&!i.animate){this._proportionallyResize()}}c("body").css("cursor","auto");this.element.removeClass("ui-resizable-resizing");this._propagate("stop",h);if(this._helper){this.helper.remove()}return false},_updateVirtualBoundaries:function(g){var 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a(j){j=j||location.href;return"#"+j.replace(/^[^#]*#?(.*)$/,"$1")}$.fn[c]=function(j){return j?this.bind(c,j):this.trigger(c)};$.fn[c].delay=50;g[c]=$.extend(g[c],{setup:function(){if(d){return false}$(f.start)},teardown:function(){if(d){return false}$(f.stop)}});f=(function(){var j={},p,m=a(),k=function(q){return q},l=k,o=k;j.start=function(){p||n()};j.stop=function(){p&&clearTimeout(p);p=b};function n(){var r=a(),q=o(m);if(r!==m){l(m=r,q);$(e).trigger(c)}else{if(q!==m){location.href=location.href.replace(/#.*/,"")+q}}p=setTimeout(n,$.fn[c].delay)}$.browser.msie&&!d&&(function(){var q,r;j.start=function(){if(!q){r=$.fn[c].src;r=r&&r+a();q=$(' + + +
+
+
Modules
+
+
+
Here is a list of all modules:
+
[detail level 12]
+ + + + + + + + + + + + + + + +
 ▼Higher level methods, setters and getters
 Methods
 Getters and setters
 Lower level fun stuff methods
 ▼Lower level servo drive methods and getters
 Methods
 Getters
 ▼Lower level ultra sonic methods and getters
 Methods
 Setters and getters
 ▼Lower level drives methods and getters
 Methods
 Getters
 ▼Lower level LED methods
 Methods
+ + + + + + + diff --git a/Doku/Doxygen/html/modules.js b/Doku/Doxygen/html/modules.js new file mode 100644 index 0000000..457b22f --- /dev/null +++ b/Doku/Doxygen/html/modules.js @@ -0,0 +1,9 @@ +var modules = +[ + [ "Higher level methods, setters and getters", "d9/d80/group__higherlevel.html", "d9/d80/group__higherlevel" ], + [ "Lower level fun stuff methods", "d8/d7a/group__lowerlevelfun.html", "d8/d7a/group__lowerlevelfun" ], + [ "Lower level servo drive methods and getters", "d3/d17/group__lowerlevelservo.html", "d3/d17/group__lowerlevelservo" ], + [ "Lower level ultra sonic methods and getters", "da/daf/group__lowerlevelus.html", "da/daf/group__lowerlevelus" ], + [ "Lower level drives methods and getters", "d6/d98/group__lowerleveldrives.html", "d6/d98/group__lowerleveldrives" ], + [ "Lower level LED methods", "d7/d0f/group__lowerlevelled.html", "d7/d0f/group__lowerlevelled" ] +]; \ No newline at end of file diff --git a/Doku/Doxygen/html/nav_f.png b/Doku/Doxygen/html/nav_f.png new file mode 100644 index 0000000..72a58a5 Binary files /dev/null and b/Doku/Doxygen/html/nav_f.png differ diff --git a/Doku/Doxygen/html/nav_g.png b/Doku/Doxygen/html/nav_g.png new file mode 100644 index 0000000..2093a23 Binary files /dev/null and b/Doku/Doxygen/html/nav_g.png differ diff --git a/Doku/Doxygen/html/nav_h.png b/Doku/Doxygen/html/nav_h.png new file mode 100644 index 0000000..33389b1 Binary files /dev/null and b/Doku/Doxygen/html/nav_h.png differ diff --git a/Doku/Doxygen/html/navtree.css b/Doku/Doxygen/html/navtree.css new file mode 100644 index 0000000..0cc7e77 --- /dev/null +++ b/Doku/Doxygen/html/navtree.css @@ -0,0 +1,146 @@ +#nav-tree .children_ul { + margin:0; 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evt : window.event; // for IE + if (e.keyCode==40 && this.searchIndex0) // Up + { + this.searchIndex--; + this.OnSelectItem(this.searchIndex); + } + else if (e.keyCode==13 || e.keyCode==27) + { + this.OnSelectItem(this.searchIndex); + this.CloseSelectionWindow(); + this.DOMSearchField().focus(); + } + return false; + } + + // --------- Actions + + // Closes the results window. + this.CloseResultsWindow = function() + { + this.DOMPopupSearchResultsWindow().style.display = 'none'; + this.DOMSearchClose().style.display = 'none'; + this.Activate(false); + } + + this.CloseSelectionWindow = function() + { + this.DOMSearchSelectWindow().style.display = 'none'; + } + + // Performs a search. + this.Search = function() + { + this.keyTimeout = 0; + + // strip leading whitespace + var searchValue = this.DOMSearchField().value.replace(/^ +/, ""); + + var code = searchValue.toLowerCase().charCodeAt(0); + var idxChar = searchValue.substr(0, 1).toLowerCase(); + if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair + { + idxChar = searchValue.substr(0, 2); + } + + var resultsPage; + var resultsPageWithSearch; + var hasResultsPage; + + var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar); + if (idx!=-1) + { + var hexCode=idx.toString(16); + resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + '.html'; + resultsPageWithSearch = resultsPage+'?'+escape(searchValue); + hasResultsPage = true; + } + else // nothing available for this search term + { + resultsPage = this.resultsPath + '/nomatches.html'; + resultsPageWithSearch = resultsPage; + hasResultsPage = false; + } + + window.frames.MSearchResults.location = resultsPageWithSearch; + var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow(); + + if (domPopupSearchResultsWindow.style.display!='block') + { + var domSearchBox = this.DOMSearchBox(); + this.DOMSearchClose().style.display = 'inline'; + if (this.insideFrame) + { + var domPopupSearchResults = this.DOMPopupSearchResults(); + domPopupSearchResultsWindow.style.position = 'relative'; + domPopupSearchResultsWindow.style.display = 'block'; + var width = document.body.clientWidth - 8; // the -8 is for IE :-( + domPopupSearchResultsWindow.style.width = width + 'px'; + domPopupSearchResults.style.width = width + 'px'; + } + else + { + var domPopupSearchResults = this.DOMPopupSearchResults(); + var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth; + var top = getYPos(domSearchBox) + 20; // domSearchBox.offsetHeight + 1; + domPopupSearchResultsWindow.style.display = 'block'; + left -= domPopupSearchResults.offsetWidth; + domPopupSearchResultsWindow.style.top = top + 'px'; + domPopupSearchResultsWindow.style.left = left + 'px'; + } + } + + this.lastSearchValue = searchValue; + this.lastResultsPage = resultsPage; + } + + // -------- Activation Functions + + // Activates or deactivates the search panel, resetting things to + // their default values if necessary. + this.Activate = function(isActive) + { + if (isActive || // open it + this.DOMPopupSearchResultsWindow().style.display == 'block' + ) + { + this.DOMSearchBox().className = 'MSearchBoxActive'; + + var searchField = this.DOMSearchField(); + + if (searchField.value == this.searchLabel) // clear "Search" term upon entry + { + searchField.value = ''; + this.searchActive = true; + } + } + else if (!isActive) // directly remove the panel + { + this.DOMSearchBox().className = 'MSearchBoxInactive'; + this.DOMSearchField().value = this.searchLabel; + this.searchActive = false; + this.lastSearchValue = '' + this.lastResultsPage = ''; + } + } +} + +// ----------------------------------------------------------------------- + +// The class that handles everything on the search results page. +function SearchResults(name) +{ + // The number of matches from the last run of . + this.lastMatchCount = 0; + this.lastKey = 0; + this.repeatOn = false; + + // Toggles the visibility of the passed element ID. + this.FindChildElement = function(id) + { + var parentElement = document.getElementById(id); + var element = parentElement.firstChild; + + while (element && element!=parentElement) + { + if (element.nodeName == 'DIV' && element.className == 'SRChildren') + { + return element; + } + + if (element.nodeName == 'DIV' && element.hasChildNodes()) + { + element = element.firstChild; + } + else if (element.nextSibling) + { + element = element.nextSibling; + } + else + { + do + { + element = element.parentNode; + } + while (element && element!=parentElement && !element.nextSibling); + + if (element && element!=parentElement) + { + element = element.nextSibling; + } + } + } + } + + this.Toggle = function(id) + { + var element = this.FindChildElement(id); + if (element) + { + if (element.style.display == 'block') + { + element.style.display = 'none'; + } + else + { + element.style.display = 'block'; + } + } + } + + // Searches for the passed string. 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row.style.display = 'block'; + matches++; + } + else + { + row.style.display = 'none'; + } + } + i++; + } + document.getElementById("Searching").style.display='none'; + if (matches == 0) // no results + { + document.getElementById("NoMatches").style.display='block'; + } + else // at least one result + { + document.getElementById("NoMatches").style.display='none'; + } + this.lastMatchCount = matches; + return true; + } + + // return the first item with index index or higher that is visible + this.NavNext = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index++; + } + return focusItem; + } + + this.NavPrev = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index--; + } + return focusItem; + } + + this.ProcessKeys = function(e) + { + if (e.type == "keydown") + { + this.repeatOn = false; + this.lastKey = e.keyCode; + } + else if (e.type == "keypress") + { + if (!this.repeatOn) + { + if (this.lastKey) this.repeatOn = true; + return false; // ignore first keypress after keydown + } + } + else if (e.type == "keyup") + { + this.lastKey = 0; + this.repeatOn = false; + } + return this.lastKey!=0; + } + + this.Nav = function(evt,itemIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + var newIndex = itemIndex-1; + var focusItem = this.NavPrev(newIndex); + if (focusItem) + { + var child = this.FindChildElement(focusItem.parentNode.parentNode.id); + if (child && child.style.display == 'block') // children visible + { + var n=0; + var tmpElem; + while (1) // search for last child + { + tmpElem = document.getElementById('Item'+newIndex+'_c'+n); + if (tmpElem) + { + focusItem = tmpElem; + } + else // found it! + { + break; + } + n++; + } + } + } + if (focusItem) + { + focusItem.focus(); + } + else // return focus to search field + { + parent.document.getElementById("MSearchField").focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = itemIndex+1; + var focusItem; + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem && elem.style.display == 'block') // children visible + { + focusItem = document.getElementById('Item'+itemIndex+'_c0'); + } + if (!focusItem) focusItem = this.NavNext(newIndex); + if (focusItem) focusItem.focus(); + } + else if (this.lastKey==39) // Right + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'block'; + } + else if (this.lastKey==37) // Left + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'none'; + } + else if (this.lastKey==27) // Escape + { + parent.searchBox.CloseResultsWindow(); + parent.document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } + + this.NavChild = function(evt,itemIndex,childIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + if (childIndex>0) + { + var newIndex = childIndex-1; + document.getElementById('Item'+itemIndex+'_c'+newIndex).focus(); + } + else // already at first child, jump to parent + { + document.getElementById('Item'+itemIndex).focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = childIndex+1; + var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex); + if (!elem) // last child, jump to parent next parent + { + elem = this.NavNext(itemIndex+1); + } + if (elem) + { + elem.focus(); + } + } + else if (this.lastKey==27) // Escape + { + parent.searchBox.CloseResultsWindow(); + parent.document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } +} + +function setKeyActions(elem,action) +{ + elem.setAttribute('onkeydown',action); + elem.setAttribute('onkeypress',action); + elem.setAttribute('onkeyup',action); +} + +function setClassAttr(elem,attr) +{ + elem.setAttribute('class',attr); + elem.setAttribute('className',attr); +} + +function createResults() +{ + var results = document.getElementById("SRResults"); + for (var e=0; 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