590 lines
18 KiB
C++
590 lines
18 KiB
C++
// the compiler switch for an ESP8266 is looking like this: #elif defined(ARDUINO_ARCH_ESP8266)
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#include "CodeRacer.h"
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//Konstruktor ohne Pins ... alle Vorgaben kommen aus dem CodeRacer.h Header file
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CodeRacer::CodeRacer()
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{
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_taster_pin = H_TASTERPIN;
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_servopin = H_SERVOPIN;
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_us_trigger_pin = H_US_TRIG;
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_us_echo_pin = H_US_ECHO;
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_motor_links_frwd_pin = H_MOTORLI_FWRD;
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_motor_links_back_pin = H_MOTORLI_BACK;
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_motor_links_enable_pin = H_MOTORLI_SPEED;
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_motor_rechts_frwd_pin = H_MOTORRE_FWRD;
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_motor_rechts_back_pin = H_MOTORRE_BACK;
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_motor_rechts_enable_pin = H_MOTORRE_SPEED;
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_led_frwd_pin = H_LED_VORWAERTS;
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_led_stop_pin = H_LED_STOP;
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_led_links_pin = H_LED_LINKS;
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_led_rechts_pin = H_LED_RECHTS;
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_servo_dummy = new Servo();
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_servo = new Servo();
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_servo_mitte = H_SERVO_MITTE;
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_servo_links = H_SERVO_LINKS;
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_servo_rechts = H_SERVO_RECHTS;
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_schwenk_links = H_SERVO_SCHWENK_LINKS;
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_schwenk_rechts = H_SERVO_SCHWENK_RECHTS;
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_schwenk_position = _servo_mitte;
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_schwenk_richtung = SERVO_SCHWENK_LI;
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_schwenk_millis = millis();
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_motor_links_tempo = H_MOTORLI_TEMPO;
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_motor_rechts_tempo = H_MOTORRE_TEMPO;
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_drehung_links_ms = H_RACER_LINKS_MS;
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_drehung_rechts_ms = H_RACER_RECHTS_MS;
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coderracer_activ = false;
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_coderracer_activ = true;
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_drive_forward = false;
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_schwenk = false;
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_last_ledswitch_ms = millis();
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_last_led_on = 0;
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_led_count = 1;
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_min_abstand_cm = 0;
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_servo_look_around_ms = millis();
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}
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// Konstruktor mit pin Übergaben ...
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CodeRacer::CodeRacer(int tasterpin , int servopin,
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int us_trigger_pin, int us_echo_pin,
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int motor_links_frwd_pin, int motor_links_back_pin, int motor_links_enable_pin,
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int motor_rechts_frwd_pin, int motor_rechts_back_pin, int motor_rechts_enable_pin,
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int led_frwd, int led_stop, int led_links, int led_rechts
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)
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{
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_taster_pin = tasterpin;
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_servopin = servopin;
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_us_trigger_pin = us_trigger_pin;
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_us_echo_pin = us_echo_pin;
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_motor_links_frwd_pin = motor_links_frwd_pin;
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_motor_links_back_pin = motor_links_back_pin;
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_motor_links_enable_pin = motor_links_enable_pin;
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_motor_rechts_frwd_pin = motor_rechts_frwd_pin;
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_motor_rechts_back_pin = motor_rechts_back_pin;
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_motor_rechts_enable_pin = motor_rechts_enable_pin;
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_led_frwd_pin = led_frwd;
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_led_stop_pin = led_stop;
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_led_links_pin = led_links;
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_led_rechts_pin = led_rechts;
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_servo_dummy = new Servo();
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_servo = new Servo();
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_servo_mitte = H_SERVO_MITTE;
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_servo_links = H_SERVO_LINKS;
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_servo_rechts = H_SERVO_RECHTS;
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_schwenk_links = H_SERVO_SCHWENK_LINKS;
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_schwenk_rechts = H_SERVO_SCHWENK_RECHTS;
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_schwenk_position = _servo_mitte;
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_schwenk_richtung = SERVO_SCHWENK_LI;
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_schwenk_millis = millis();
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_motor_links_tempo = H_MOTORLI_TEMPO;
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_motor_rechts_tempo = H_MOTORRE_TEMPO;
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_drehung_links_ms = H_RACER_LINKS_MS;
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_drehung_rechts_ms = H_RACER_RECHTS_MS;
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coderracer_activ = false;
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_coderracer_activ = true;
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_drive_forward = false;
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_schwenk = false;
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_last_ledswitch_ms = millis();
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_last_led_on = 0;
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_led_count = 1;
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_servo_look_around_ms = millis();
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_min_abstand_cm = 0;
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}
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void CodeRacer::begin() {
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// Ultraschallsensor
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pinMode(_us_trigger_pin, OUTPUT); // Ultraschallsensor: TRIG ist ein Ausgangspin. Es wird ein Signal zum Ultraschallsensor gesendet
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pinMode(_us_echo_pin, INPUT); // Ultraschallsensor: ECHO ist ein Eingangspin. Es wird ein Signal vom Ultraschallsensor empfangen
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// Servo
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_servo->attach(_servopin); // dem Servo Objekt "sagen" an welchen Pin am Schaltkreis der Server angeschlossen ist
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// Linker Motor
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pinMode(_motor_links_frwd_pin, OUTPUT); // Linker Motor FORWARD ist ein Ausgang.
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pinMode(_motor_links_back_pin, OUTPUT); // Linker Motor BACKWARD ist ein Ausgang.
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ledcSetup(MOTORPWM_LINKS, 5000, 8); // channel 1, 50 Hz, 8-bit width
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ledcAttachPin(_motor_links_enable_pin, MOTORPWM_LINKS); // Linker Motor SPEED mit Kanal 1 verbunden
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analog_write(_motor_links_enable_pin, 0); // Linken Motor sicherheitshalber ausschalten :-)
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// Rechter Motor
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pinMode(_motor_rechts_frwd_pin, OUTPUT); // Rechter Motor FORWARD ist ein Ausgang.
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pinMode(_motor_rechts_back_pin, OUTPUT); // Rechter Motor BACKWARD ist ein Ausgang.
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ledcSetup(MOTORPWM_RECHTS, 5000, 8); // channel 2, 50 Hz, 8-bit width
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ledcAttachPin(_motor_rechts_enable_pin, MOTORPWM_RECHTS); // Rechter Motor SPEED mit Kanal 2 verbunden
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analog_write(_motor_rechts_enable_pin, 0); // Rechten Motor sicherheitshalber ausschalten :-)
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// LEDs
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pinMode(_led_frwd_pin, OUTPUT); // LED Vorwärts ist ein Ausgang
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pinMode(_led_stop_pin, OUTPUT); // LED Stop ist ein Ausgang
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pinMode(_led_links_pin, OUTPUT); // LED Links ist ein Ausgang
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pinMode(_led_rechts_pin, OUTPUT); // LED Rechts ist ein Ausgang
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// alle LEDS aus
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digitalWrite(_led_frwd_pin, LOW);
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digitalWrite(_led_stop_pin, LOW);
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digitalWrite(_led_links_pin, LOW);
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digitalWrite(_led_rechts_pin, LOW);
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// Taster
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taster_last_pressed_ms = 0;
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pinMode(_taster_pin, INPUT_PULLUP);
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attachInterrupt(digitalPinToInterrupt(_taster_pin), set_taster_state, FALLING);
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// Random
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randomSeed(analogRead(0));
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Serial.println("CodeRacer initialisiert ... ");
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}
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void CodeRacer::servo_einstellungen(int winkel_mitte, int winkel_links, int winkel_rechts, int schwenk_links, int schwenk_rechts)
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{
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_servo_mitte = winkel_mitte;
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_servo_links = winkel_links;
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_servo_rechts = winkel_rechts;
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_schwenk_links = schwenk_links;
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_schwenk_rechts = schwenk_rechts;
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_schwenk_position = _servo_mitte;
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_schwenk_richtung = SERVO_SCHWENK_LI;
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_schwenk_millis = millis();
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Serial.println("CodeRacer Servo eingestellt ... ");
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}
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void CodeRacer::motor_einstellungen(int motor_links_tempo, int motor_rechts_tempo, int drehung_links_ms, int drehung_rechts_ms)
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{
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_motor_links_tempo = motor_links_tempo;
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_motor_rechts_tempo = motor_rechts_tempo;
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_drehung_links_ms = drehung_links_ms;
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_drehung_rechts_ms = drehung_rechts_ms;
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}
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void CodeRacer::analog_write(int pin, int speed) {
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if (pin == _motor_links_enable_pin) { ledcWrite(MOTORPWM_LINKS, speed); }
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if (pin == _motor_rechts_enable_pin) { ledcWrite(MOTORPWM_RECHTS, speed); }
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}
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void CodeRacer::anhalten() {
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Serial.println("RACER_ANHALTEN"); // Meldung am Monitor ausgeben
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_schwenk = false;
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_drive_forward = false;
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_drive_normal_forward = false;
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//Rechten Motor abschalten
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digitalWrite(_motor_rechts_frwd_pin, LOW);
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digitalWrite(_motor_rechts_back_pin, LOW);
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// Linken Motor abschalten
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digitalWrite(_motor_links_frwd_pin, LOW);
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digitalWrite(_motor_links_back_pin, LOW);
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// Motoren beide ausschalten
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analog_write(_motor_rechts_enable_pin, 0);
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analog_write(_motor_links_enable_pin, 0);
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// LEDs setzen
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digitalWrite(_led_frwd_pin, LOW);
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digitalWrite(_led_stop_pin, HIGH);
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digitalWrite(_led_links_pin, LOW);
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digitalWrite(_led_rechts_pin, LOW);
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delay(1000);
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}
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void CodeRacer::normal_tempo()
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{
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//Serial.println("RACER_NORMAL_TEMPO"); // Meldung am Monitor ausgeben
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analog_write(_motor_rechts_enable_pin, _motor_rechts_tempo);
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analog_write(_motor_links_enable_pin, _motor_links_tempo);
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_drive_forward = true;
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_drive_normal_forward = true;
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}
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void CodeRacer::vorwaerts()
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{
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Serial.println("RACER_VORWAERTS"); // Meldung am Monitor ausgeben
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if (false == _drive_forward) {
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// Rechten Motor auf vorwärts stellen
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digitalWrite(_motor_rechts_frwd_pin, HIGH);
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digitalWrite(_motor_rechts_back_pin, LOW);
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// Linken Motor auf vorwärts stellen
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digitalWrite(_motor_links_frwd_pin, HIGH);
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digitalWrite(_motor_links_back_pin, LOW);
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// Motoren beide anschalten
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analog_write(_motor_rechts_enable_pin, MOTORRE_MAX_TEMPO);
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analog_write(_motor_links_enable_pin, MOTORLI_MAX_TEMPO);
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// LEDs setzen
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digitalWrite(_led_frwd_pin, HIGH);
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digitalWrite(_led_stop_pin, LOW);
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digitalWrite(_led_links_pin, LOW);
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digitalWrite(_led_rechts_pin, LOW);
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_drive_forward = true;
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_drive_normal_forward = false;
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_drive_forward_ms = millis();
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} else {
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if (false == _drive_normal_forward) {
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if ((millis() - _drive_forward_ms) > MOTOR_MAX_SPEED_START_MS) {
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normal_tempo();
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}
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}
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}
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}
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void CodeRacer::rueckwaerts()
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{
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Serial.println("RACER_RUECKWAERTS"); // Meldung am Monitor ausgeben
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if (false == _drive_forward) {
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// Rechten Motor auf rückwärts stellen
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digitalWrite(_motor_rechts_frwd_pin, LOW);
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digitalWrite(_motor_rechts_back_pin, HIGH);
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// Linken Motor auf rückwärts stellen
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digitalWrite(_motor_links_frwd_pin, LOW);
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digitalWrite(_motor_links_back_pin, HIGH);
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// Motoren beide anschalten
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analog_write(_motor_rechts_enable_pin, MOTORRE_MAX_TEMPO);
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analog_write(_motor_links_enable_pin, MOTORLI_MAX_TEMPO);
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// LEDs setzen
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digitalWrite(_led_frwd_pin, HIGH);
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digitalWrite(_led_stop_pin, LOW);
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digitalWrite(_led_links_pin, LOW);
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digitalWrite(_led_rechts_pin, LOW);
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_drive_forward = true;
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_drive_normal_forward = false;
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_drive_forward_ms = millis();
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}
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else {
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if (false == _drive_normal_forward) {
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if ((millis() - _drive_forward_ms) > MOTOR_MAX_SPEED_START_MS) {
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normal_tempo();
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}
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}
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}
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}
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void CodeRacer::links()
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{
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Serial.println("RACER_LINKS"); // Meldung am Monitor ausgeben
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_drive_forward = false;
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// LEDs setzen
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digitalWrite(_led_frwd_pin, LOW);
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digitalWrite(_led_stop_pin, LOW);
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digitalWrite(_led_links_pin, HIGH);
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digitalWrite(_led_rechts_pin, LOW);
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// Rechten Motor auf vorwärts stellen
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digitalWrite(_motor_rechts_frwd_pin, HIGH);
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digitalWrite(_motor_rechts_back_pin, LOW);
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// Linken Motor auf rückwärts stellen
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digitalWrite(_motor_links_frwd_pin, LOW);
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digitalWrite(_motor_links_back_pin, HIGH);
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// Motoren beide anschalten
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analog_write(_motor_rechts_enable_pin, MOTORRE_MAX_TEMPO);
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analog_write(_motor_links_enable_pin, MOTORLI_MAX_TEMPO);
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// Warten bis der RAcer sich gedreht hat
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delay(_drehung_links_ms);
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// Motoren wieder auschalten
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analog_write(_motor_rechts_enable_pin, 0);
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analog_write(_motor_links_enable_pin, 0);
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}
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void CodeRacer::rechts()
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{
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Serial.println("RACER_RECHTS"); // Meldung am Monitor ausgeben
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_drive_forward = false;
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// LEDs setzen
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digitalWrite(_led_frwd_pin, LOW);
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digitalWrite(_led_stop_pin, LOW);
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digitalWrite(_led_links_pin, LOW);
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digitalWrite(_led_rechts_pin, HIGH);
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// Rechten Motor auf rückwärts stellen
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digitalWrite(_motor_rechts_frwd_pin, LOW);
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digitalWrite(_motor_rechts_back_pin, HIGH);
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// Linken Motor auf vorwärts stellen
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digitalWrite(_motor_links_frwd_pin, HIGH);
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digitalWrite(_motor_links_back_pin, LOW);
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// Motoren beide anschalten
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analog_write(_motor_rechts_enable_pin, MOTORRE_MAX_TEMPO);
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analog_write(_motor_links_enable_pin, MOTORLI_MAX_TEMPO);
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// Warten bis der RAcer sich gedreht hat
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delay(_drehung_rechts_ms);
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// Motoren wieder auschalten
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analog_write(_motor_rechts_enable_pin, 0);
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analog_write(_motor_links_enable_pin, 0);
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}
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void CodeRacer::servo_rechts()
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{
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Serial.println("SERVO_RECHTS"); // Meldung am Monitor ausgeben
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_schwenk = false;
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_servo->write(_servo_rechts); // Servo auf den Winkel rechts drehen
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_schwenk_position = _servo_rechts; // Servo schaut nach rechts
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delay(1000); // Kurz warten, dass der Servo die Stellung erreicht
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}
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void CodeRacer::servo_links()
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{
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Serial.println("SERVO_LINKS"); // Meldung am Monitor ausgeben
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_schwenk = false;
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_servo->write(_servo_links); // Servo auf den Winkel links drehen
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_schwenk_position = _servo_links; // Servo schaut nach links
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delay(1000); // Kurz warten, dass der Servo die Stellung erreicht
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}
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void CodeRacer::servo_mitte()
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{
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Serial.println("SERVO_MITTE"); // Meldung am Monitor ausgeben
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_schwenk = false;
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_servo->write(_servo_mitte); // Servo auf den Winkel links drehen
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_schwenk_position = _servo_mitte; // Servo schaut direkt nach vorn
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_schwenk_millis = millis();
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delay(1000); // Kurz warten, dass der Servo die Stellung erreicht
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}
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void CodeRacer::servo_schwenk()
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{
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_schwenk = true;
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if (millis() - _schwenk_millis > SERVO_SCHWENK_MS) {
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_schwenk_position = _schwenk_position + _schwenk_richtung;
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if (_schwenk_position >= _schwenk_links) {
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_schwenk_position = _schwenk_links;
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_schwenk_richtung = SERVO_SCHWENK_RE;
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}
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if (_schwenk_position <= _schwenk_rechts) {
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_schwenk_position = _schwenk_rechts;
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_schwenk_richtung = SERVO_SCHWENK_LI;
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}
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_servo->write(_schwenk_position); // Servo auf den Winkel links drehen
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_schwenk_millis = millis();
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}
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}
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void CodeRacer::knight_rider()
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{
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if (millis() - _last_ledswitch_ms > LED_SWITCH_MS) {
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_last_ledswitch_ms = millis();
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if (_last_led_on >= 5) {
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_led_count = -1;
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}
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if(_last_led_on <= 0) {
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_led_count = 1;
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}
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_last_led_on = _last_led_on + _led_count;
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switch (_last_led_on) {
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case 0:
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digitalWrite(_led_links_pin, HIGH);
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digitalWrite(_led_stop_pin, LOW);
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digitalWrite(_led_frwd_pin, LOW);
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digitalWrite(_led_rechts_pin, LOW);
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break;
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case 1:
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digitalWrite(_led_links_pin, HIGH);
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digitalWrite(_led_stop_pin, LOW);
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digitalWrite(_led_frwd_pin, LOW);
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digitalWrite(_led_rechts_pin, LOW);
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break;
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case 2:
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digitalWrite(_led_links_pin, LOW);
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digitalWrite(_led_stop_pin, HIGH);
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digitalWrite(_led_frwd_pin, LOW);
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digitalWrite(_led_rechts_pin, LOW);
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break;
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case 3:
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digitalWrite(_led_links_pin, LOW);
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digitalWrite(_led_stop_pin, LOW);
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digitalWrite(_led_frwd_pin, HIGH);
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digitalWrite(_led_rechts_pin, LOW);
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break;
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case 4:
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digitalWrite(_led_links_pin, LOW);
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digitalWrite(_led_stop_pin, LOW);
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digitalWrite(_led_frwd_pin, LOW);
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digitalWrite(_led_rechts_pin, HIGH);
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break;
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case 5:
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digitalWrite(_led_links_pin, LOW);
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digitalWrite(_led_stop_pin, LOW);
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digitalWrite(_led_frwd_pin, LOW);
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digitalWrite(_led_rechts_pin, HIGH);
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break;
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}
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}
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}
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long CodeRacer::abstand_messen()
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{
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long abstand_cm = 0;
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long min_abstand_cm = 1000;
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int servo_drehrichtung = 0;
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//Serial.print("ABSTAND_MESSEN. Aktuelle Servo position:");
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//Serial.println(_schwenk_position);
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// wenn der Racer nicht fährt, dann wird mehrfach gemessen und der Servo um die aktuelle Positin gedreht ... wenn er faährt oder schwenk aktiv ist , wird einfach nur gemessen
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if (((true == _drive_forward) || (true == _drive_normal_forward) || (H_SERVO_MITTE == _schwenk_position) || _schwenk == true)) {
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// messen beim fahren ...
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//Serial.println("ABSTAND_MESSEN im fahren, direkt nach vorn oder Schwenk() ist aktiv ...");
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min_abstand_cm = abstand_messen_intern();
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} else {
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// messen im Stand und ohne schwenk ...
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//Serial.println("ABSTAND_MESSEN im Stand nach links oder rechts...");
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// sind wir links oder rechts ?
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if (H_SERVO_LINKS == _schwenk_position) {
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//Serial.println("ABSTAND_MESSEN. Linke Seite.");
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//links ...
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servo_drehrichtung = SERVO_SCHWENK_RE;
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}
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if (H_SERVO_RECHTS == _schwenk_position) {
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//rechts ...
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//Serial.println("ABSTAND_MESSEN rechte Seite.");
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servo_drehrichtung = SERVO_SCHWENK_LI;
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}
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// drehen und messen ... kleinsten Wert merken
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do {
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_schwenk_position = _schwenk_position + servo_drehrichtung;
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_servo->write(_schwenk_position);
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//Serial.print("ABSTAND_MESSEN. Servo position:");
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//Serial.println(_schwenk_position);
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delay(50);
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abstand_cm = abstand_messen_intern();
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if (abstand_cm < min_abstand_cm) {
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min_abstand_cm = abstand_cm;
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}
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} while ((_schwenk_position > H_SERVO_MITTE_LINKS) || (_schwenk_position < H_SERVO_MITTE_RECHTS));
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}
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Serial.print("ABSTAND_MESSEN. Der Abstand in cm ist (mindestens):");
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Serial.println(min_abstand_cm);
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_min_abstand_cm = min_abstand_cm;
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return(min_abstand_cm);
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}
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long CodeRacer::abstand_messen_intern()
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{
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long abstand_cm;
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long long echo_dauer_us[3] = { 0,0,0 };
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int messnr = 0;
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do{
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// Messung starten - ein kurzer Pulse "HIGH" wird zum TRIG pin des Ultraschallsensors geschickt
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pinMode(_us_echo_pin, OUTPUT);
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pinMode(_us_echo_pin, INPUT);
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digitalWrite(_us_trigger_pin, LOW);
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delayMicroseconds(2);
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digitalWrite(_us_trigger_pin, HIGH);
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delayMicroseconds(10);
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digitalWrite(_us_trigger_pin, LOW);
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// Messung der Dauer in Mikrosekundenmeasure bis das ECHO Pin vom Ultraschallsensor HIGH wird
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echo_dauer_us[messnr] = pulseIn(_us_echo_pin, HIGH, US_MAX_ECHO_TIME_US);
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if (echo_dauer_us[messnr] == 0) {
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echo_dauer_us[messnr] = US_MAX_ECHO_TIME_US;
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messnr++;
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} else {
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if (echo_dauer_us[messnr] > 200) {
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messnr++;
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}
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}
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} while (messnr < 3);
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// the largest and the smallest values will be ignored ...
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if (echo_dauer_us[0] > echo_dauer_us[1])
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{
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std::swap(echo_dauer_us[0], echo_dauer_us[1]);
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}
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if (echo_dauer_us[1] > echo_dauer_us[2])
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{
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std::swap(echo_dauer_us[1],echo_dauer_us[2]);
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}
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if (echo_dauer_us[0] > echo_dauer_us[1])
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{
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std::swap(echo_dauer_us[0], echo_dauer_us[1]);
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}
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// convert into cm ... 344m/sec is the speed of noise - thus 34400cm/sec ... or 34,400cm/milisec ... or 0,0344cm/microsec
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// the echo has to go the distance twice - forth and back - so the duration has to be the half of the measured one
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// distance_cm = echo_duration/2 * 0,0344 or distance_cm = echo_duration/2 / 29,1 or distance_cm = echo_duration * 0,0172
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// distance_cm = (echo_duration/2) / 29.1;
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abstand_cm = echo_dauer_us[1] * 0.0172;
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//Messwert am Monitor anzeigen
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//Serial.print("ABSTAND_MESSEN. Der Abstand in cm ist (mindestens):");
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//Serial.println(abstand_cm);
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return(abstand_cm);
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}
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bool CodeRacer::start_stop() {
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if (_coderracer_activ != coderracer_activ) {
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_coderracer_activ = coderracer_activ;
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if (true == _coderracer_activ) {
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digitalWrite(_led_links_pin, LOW);
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digitalWrite(_led_frwd_pin, LOW);
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digitalWrite(_led_rechts_pin, LOW);
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digitalWrite(_led_stop_pin, LOW);
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servo_rechts();
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servo_links();
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servo_mitte();
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delay(500);
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}
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else {
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anhalten();
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servo_mitte();
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_servo_look_around_ms = millis() + random(5000, 120000);
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}
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}
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if (false == _coderracer_activ) {
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knight_rider();
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if (_servo_look_around_ms < millis()) {
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_servo_look_around_ms = millis() + random(5000, 120000);
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servo_links();
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delay(500);
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servo_rechts();
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delay(800);
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servo_mitte();
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delay(300);
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servo_links();
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delay(100);
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servo_mitte();
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}
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}
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return(_coderracer_activ);
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}
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void IRAM_ATTR CodeRacer::set_taster_state() {
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if ((millis() - taster_last_pressed_ms) > 200) {
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taster_last_pressed_ms = millis();
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if (false == coderracer_activ) {
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coderracer_activ = true;
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}
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else {
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coderracer_activ = false;
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}
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}
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}
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