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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#include "Arduino.h"</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <algorithm></span> <span class="comment">// std::swap</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include <ESP32Servo.h></span> <span class="comment">// Servo drive support for ESP32</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "esp32-hal-ledc.h"</span> <span class="comment">// Part of ESP32 board files - Analog output</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> </div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#ifndef __CodeRacer_H__</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#define __CodeRacer_H__</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> </div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">//----- Fun stuff ---------</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#define FUN_MIN_PAUSE_MS 120000 // minimum and maximum pause between to rounds fun</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#define FUN_MAX_PAUSE_MS 300000</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#define LED_SWITCH_MS 50 // speed of knight rider lights</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">//----- Button ------------</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#define H_BUTTON_PIN 17</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#define BUTTON_BOUNCING_TIME_MS 200 // bouncing delay</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">//----- Servo -----</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#define H_SERVO_PIN 16 </span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#define H_SERVO_LEFT_POS 145 // left position of the servo</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#define H_SERVO_CENTER_LEFT 100 // left-center position of the servo</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#define H_SERVO_RIGHT_POS 35 // right position of the servo</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#define H_SERVO_CENTER_RIGHT 80 // right-center position of the servo</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#define H_SERVO_CENTER_POS 90 // center position of the servo</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#define H_SERVO_SWEEP_LEFT_POS 140 // most left sweep position of the servo</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#define H_SERVO_SWEEP_RIGHT_POS 40 // most right sweep position of the servo</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#define SERVO_SWEEP_TO_LEFT_STEP 5 // sweep step to the left</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#define SERVO_SWEEP_TO_RIGHT_STEP -5 // sweep step to the right</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#define SERVO_SWEEP_MS 10 // duration of time betwee to sweep steps</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#define SERVO_MAX_POSITION 170 // maximum servo position</span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#define SERVO_MIN_POSITION 10 // minimum servo position</span></div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#define SERVO_SET_1TICK_POSITION_DELAY_MS 3 // minimum duration of time between two servo steps</span></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">//----- Ultrasonic sensor -----</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor">#define H_US_TRIG_PIN 12</span></div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#define H_US_ECHO_PIN 14</span></div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#define H_US_STOP_DISTANCE_CM 25 // if the measured distance is smaller the racer maybe stopped</span></div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#define US_MAX_ECHO_TIME_US 6000 // timeout for ultrasonic sensor measurements - this is about 100cm</span></div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment">//----- Drives -----</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#define H_DRIVE_RIGHT_SPEED 255 // default speed of right side drive. 0 ...255</span></div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#define H_DRIVE_LEFT_SPEED 255 // default speed of left side drive. 0 ...255</span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#define H_DRIVE_RIGHT_ENABLE_PIN 2</span></div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#define H_DRIVE_RIGHT_FWRD_PIN 4</span></div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#define H_DRIVE_RIGHT_BACK_PIN 15</span></div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#define H_DRIVE_LEFT_ENABLE_PIN 21</span></div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#define H_DRIVE_LEFT_FWRD_PIN 22</span></div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#define H_DRIVE_LEFT_BACK_PIN 23</span></div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#define H_RACER_TURN_LEFT_FOR_MS 400 // duration of time the racer will turn to left</span></div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#define H_RACER_TURN_RIGHT_FOR_MS 400 // duration of time the racer will turn to right</span></div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="preprocessor">#define DRIVE_PWM_LEFT_CHANNEL 5 // PWM-channel for left side drive</span></div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="preprocessor">#define DRIVE_PWM_RIGHT_CHANNEL 6 // PWM-channel for right side drive</span></div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> </div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment">//----- LEDs -----</span></div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="preprocessor">#define H_LED_FRWD_PIN 26 </span></div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="preprocessor">#define H_LED_STOP_PIN 25 </span></div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="preprocessor">#define H_LED_LEFT_PIN 33 </span></div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="preprocessor">#define H_LED_RIGHT_PIN 27</span></div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="keyword">static</span> <span class="keyword">volatile</span> <span class="keywordtype">bool</span> coderracer_activ = <span class="keyword">false</span>;;</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="keyword">static</span> <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> button_last_pressed_at_ms = millis();</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span> </div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="keyword">enum</span> ledstate {</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  LEDOFF,</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  LEDON</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span> };</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span> </div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="keyword">enum</span> drivestate {</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  DRIVESTOP,</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  DRIVEFRWD,</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  DRIVEBACK</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span> };</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment">//--- this is as preparation of the class creation</span></div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="keyword">class </span>CodeRacer {</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">private</span>:</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="comment">//pins</span></div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  uint8_t _button_pin;</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  uint8_t _servo_pin;</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  uint8_t _us_trigger_pin;</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  uint8_t _us_echo_pin;</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  uint8_t _drive_left_frwd_pin;</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  uint8_t _drive_left_back_pin;</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  uint8_t _drive_left_enable_pin;</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  uint8_t _drive_right_frwd_pin;</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  uint8_t _drive_right_back_pin;</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  uint8_t _drive_right_enable_pin;</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  uint8_t _led_frwd_pin;</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  uint8_t _led_stop_pin;</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  uint8_t _led_left_pin;</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  uint8_t _led_right_pin;</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="comment">//servo variables</span></div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  int8_t _servo_sweep_step;</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  uint8_t _servo_position;</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _servo_position_set_at_ms;</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _servo_position_eta_in_ms;</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span> </div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="comment">//drives variables</span></div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  uint8_t _drive_left_speed;</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  uint8_t _drive_right_speed;</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _turn_left_for_ms;</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _turn_right_for_ms;</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span> </div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="comment">// ultrasonic variables</span></div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordtype">bool</span> _coderacer_stopped_at_min_distance;</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordtype">bool</span> _coderacer_stop_at_distance_enabled;</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _usonic_stop_distance_cm;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _usonic_stop_distance_us;</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _usonic_distance_us;</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _usonic_distance_cm;</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span> </div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="comment">//fun stuff variables</span></div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _last_led_switched_at_ms;</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  uint8_t _led_count;</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  uint8_t _last_led_on;</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _servo_look_around_at_ms;</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _min_distance_cm;</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordtype">bool</span> _drive;</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _drive_set_at_ms;</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordtype">bool</span> _servo_sweep;</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordtype">bool</span> _coderracer_activ;</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span> </div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="comment">//objects</span></div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  Servo* _servo;</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  Servo* _servo_dummy;</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span> </div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> _set_button_state();</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordtype">void</span> _analog_write(uint8_t pin, uint8_t speed);</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> _servo_set_position(uint8_t position);</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span> </div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keyword">public</span>:</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="comment">//properties</span></div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordtype">bool</span> coderacer_fun_enabled;</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  uint8_t servo_center_pos; </div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  uint8_t servo_left_pos; </div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  uint8_t servo_right_pos; </div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  uint8_t servo_sweep_left_pos; </div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  uint8_t servo_sweep_right_pos; </div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="comment">//methods</span></div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  CodeRacer();</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  </div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  CodeRacer(uint8_t button_pin, uint8_t servo_pin,</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  uint8_t us_trigger_pin, uint8_t us_echo_pin,</div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  uint8_t drive_left_frwd_pin, uint8_t drive_left_back_pin, uint8_t drive_left_enable_pin,</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  uint8_t drive_right_frwd_pin, uint8_t drive_right_back_pin, uint8_t drive_right_enable_pin,</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  uint8_t led_frwd_pin, uint8_t led_stop_pin, uint8_t led_left_pin, uint8_t led_right_pin);</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  </div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keywordtype">void</span> set_inactive();</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordtype">void</span> set_active();</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span> </div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keywordtype">void</span> begin();</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span> </div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="comment">// getters</span></div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keywordtype">bool</span> is_active();</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordtype">bool</span> is_driving();</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordtype">bool</span> stopped_at_min_distance();</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> usonic_distance_cm();</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> usonic_distance_us();</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  uint8_t servo_position();</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> servo_position_set_at_ms();</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> servo_position_eta_in_ms();</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  uint8_t drive_left_speed();</div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  uint8_t drive_right_speed();</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_left_for_ms();</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_right_for_ms();</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span> </div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="comment">// higher level {code}racer services</span></div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordtype">void</span> stop_driving();</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordtype">void</span> drive_forward();</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordtype">void</span> drive_forward(uint8_t left_speed, uint8_t right_speed);</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordtype">void</span> drive_backward();</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordtype">void</span> drive_backward(uint8_t left_speed, uint8_t right_speed);</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keywordtype">void</span> turn_left();</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordtype">void</span> turn_left(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_for_ms);</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordtype">void</span> turn_left(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_for_ms, uint8_t left_speed, uint8_t right_speed);</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keywordtype">void</span> turn_right();</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keywordtype">void</span> turn_right(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_for_ms);</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordtype">void</span> turn_right(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_for_ms, uint8_t left_speed, uint8_t right_speed);</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span> </div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordtype">void</span> start_stop_at_min_distance();</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordtype">void</span> start_stop_at_min_distance(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> min_distance_cm);</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordtype">void</span> stop_stop_at_min_distance();</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span> </div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span> </div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="comment">// LEDs</span></div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordtype">void</span> set_leds_left_stop_frwd_right(ledstate leftled, ledstate stopled, ledstate frwdled, ledstate rightled);</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordtype">void</span> set_leds_all(ledstate alleds);</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordtype">void</span> set_leds_all_off();</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordtype">void</span> set_leds_all_on();</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span> </div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="comment">// Drives</span></div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keywordtype">void</span> drives_settings(uint8_t drive_left_speed, uint8_t drive_right_speed, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_left_ms, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_right_ms);</div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordtype">void</span> set_drives_states_left_right(drivestate stateleft, drivestate stateright);</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordtype">void</span> set_drive_left_state(drivestate state);</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordtype">void</span> set_drive_right_state(drivestate state);</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordtype">void</span> set_drive_state(drivestate state, uint8_t frwdpin, uint8_t backpin);</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordtype">void</span> set_drives_speed_left_right(uint8_t speedleft, uint8_t speedright);</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="keywordtype">void</span> set_drive_left_speed(uint8_t speed);</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordtype">void</span> set_drive_right_speed(uint8_t speed);</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordtype">void</span> set_drive_speed(uint8_t speed, uint8_t enablepin);</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordtype">void</span> set_drives_stop_left_right();</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span> </div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="comment">// Ultrasonic sensor</span></div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> usonic_measure_cm();</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> usonic_measure_us();</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> usonic_measure_cm(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> max_echo_run_time_us);</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> usonic_measure_us(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> max_echo_run_time_us);</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> usonic_measure_single_shot_cm();</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> usonic_measure_single_shot_us();</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> usonic_measure_single_shot_cm(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> max_echo_run_time_us);</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> usonic_measure_single_shot_us(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> max_echo_run_time_us);</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordtype">void</span> usonic_set_stop_distance_cm(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> stop_distance_cm);</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordtype">void</span> usonic_set_stop_distance_us(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> stop_distance_us);</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span> </div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="comment">// Servo drive</span></div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordtype">void</span> servo_settings(uint8_t pos_center, uint8_t pos_left, uint8_t pos_right, uint8_t sweep_left_pos, uint8_t sweep_right_pos);</div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  uint8_t servo_set_position_wait(uint8_t position);</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> servo_set_position(uint8_t position);</div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keywordtype">void</span> servo_set_to_right();</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordtype">void</span> servo_set_to_left();</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordtype">void</span> servo_set_to_center();</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordtype">void</span> servo_sweep();</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span> </div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="comment">// just for fun</span></div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keywordtype">void</span> kitt();</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keywordtype">void</span> look_around();</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span> </div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="comment">// previous OBSOLETE german language definitions of the methods - still needed to support MakerLab Murnau {code}racer project</span></div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="comment">// - but use the english ones for new implementations</span></div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordtype">void</span> servo_einstellungen(uint8_t winkel_mitte, uint8_t winkel_links, uint8_t winkel_rechts, uint8_t schwenk_links, uint8_t schwenk_rechts);</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordtype">void</span> motor_einstellungen(uint8_t motor_links_tempo, uint8_t motor_rechts_tempo, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> drehung_links_ms, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> drehung_rechts_ms);</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="keywordtype">void</span> anhalten();</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keywordtype">void</span> vorwaerts();</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keywordtype">void</span> rueckwaerts();</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keywordtype">void</span> links();</div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keywordtype">void</span> rechts();</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keywordtype">void</span> servo_rechts();</div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordtype">void</span> servo_links();</div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keywordtype">void</span> servo_mitte();</div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> abstand_messen();</div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keywordtype">void</span> servo_schwenk();</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordtype">bool</span> start_stop();</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span> };</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span> </div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span> </div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span> </div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="preprocessor">#endif</span></div></div><!-- fragment --></div><!-- contents -->
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