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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// the compiler switch for an ESP8266 is looking like this: #elif defined(ARDUINO_ARCH_ESP8266)</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include "CodeRacer.h"</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> </div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> CodeRacer::CodeRacer()</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>  _button_pin = H_BUTTON_PIN;</div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  _servo_pin = H_SERVO_PIN;</div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  _us_trigger_pin = H_US_TRIG_PIN;</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  _us_echo_pin = H_US_ECHO_PIN;</div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  _drive_left_frwd_pin = H_DRIVE_LEFT_FWRD_PIN;</div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  _drive_left_back_pin = H_DRIVE_LEFT_BACK_PIN;</div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  _drive_left_enable_pin = H_DRIVE_LEFT_ENABLE_PIN;</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  _drive_right_frwd_pin = H_DRIVE_RIGHT_FWRD_PIN;</div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  _drive_right_back_pin = H_DRIVE_RIGHT_BACK_PIN;</div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  _drive_right_enable_pin = H_DRIVE_RIGHT_ENABLE_PIN;</div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  _led_frwd_pin = H_LED_FRWD_PIN;</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  _led_stop_pin = H_LED_STOP_PIN;</div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  _led_left_pin = H_LED_LEFT_PIN;</div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  _led_right_pin = H_LED_RIGHT_PIN;</div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> }</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> </div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> CodeRacer::CodeRacer(uint8_t button_pin , uint8_t servo_pin,</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  uint8_t us_trigger_pin, uint8_t us_echo_pin,</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</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="l00045"></a><span class="lineno"> 45</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="l00046"></a><span class="lineno"> 46</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="l00047"></a><span class="lineno"> 47</span> )</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> {</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  _button_pin = button_pin;</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  _servo_pin = servo_pin;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  _us_trigger_pin = us_trigger_pin;</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  _us_echo_pin = us_echo_pin;</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  _drive_left_frwd_pin = drive_left_frwd_pin;</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  _drive_left_back_pin = drive_left_back_pin;</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  _drive_left_enable_pin = drive_left_enable_pin;</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  _drive_right_frwd_pin = drive_right_frwd_pin;</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  _drive_right_back_pin = drive_right_back_pin;</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  _drive_right_enable_pin = drive_right_enable_pin;</div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  _led_frwd_pin = led_frwd_pin;</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  _led_stop_pin = led_stop_pin;</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  _led_left_pin = led_left_pin;</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  _led_right_pin = led_right_pin;</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span> }</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">void</span> CodeRacer::begin() {</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">// init of variables and objects</span></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>  _servo_dummy = <span class="keyword">new</span> Servo(); <span class="comment">// the dummy is needed so far to avoid conflicts with analog write</span></div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  _servo = <span class="keyword">new</span> Servo();</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  servo_center_pos = H_SERVO_CENTER_POS;</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  servo_left_pos = H_SERVO_LEFT_POS;</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  servo_right_pos = H_SERVO_RIGHT_POS;</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  servo_sweep_left_pos = H_SERVO_SWEEP_LEFT_POS;</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  servo_sweep_right_pos = H_SERVO_SWEEP_RIGHT_POS;</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  _servo_position = servo_center_pos;</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  _servo_sweep_step = SERVO_SWEEP_TO_LEFT_STEP;</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  _servo_position_set_at_ms = millis();</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  _servo_position_eta_in_ms = 0;</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span> </div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  _drive_left_speed = H_DRIVE_LEFT_SPEED;</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  _drive_right_speed = H_DRIVE_RIGHT_SPEED;</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span> </div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  _turn_left_for_ms = H_RACER_TURN_LEFT_FOR_MS;</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  _turn_right_for_ms = H_RACER_TURN_RIGHT_FOR_MS;</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span> </div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  coderracer_activ = <span class="keyword">false</span>;</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  _coderracer_activ = <span class="keyword">true</span>;</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  _drive = <span class="keyword">false</span>;</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  _drive_set_at_ms = millis();</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  _servo_sweep = <span class="keyword">false</span>;</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  _last_led_switched_at_ms = millis();</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  _last_led_on = 0;</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  _led_count = 3;</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>  _servo_look_around_at_ms = millis() + random(FUN_MIN_PAUSE_MS, FUN_MAX_PAUSE_MS);</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  _usonic_stop_distance_cm = H_US_STOP_DISTANCE_CM;</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  usonic_set_stop_distance_cm(_usonic_stop_distance_cm);</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  _coderacer_stopped_at_min_distance = <span class="keyword">false</span>;</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 sensor</span></div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  pinMode(_us_trigger_pin, OUTPUT);</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  pinMode(_us_echo_pin, INPUT);</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="comment">// Servo drive</span></div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  _servo->attach(_servo_pin);</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span> </div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="comment">// Left drive</span></div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  pinMode(_drive_left_frwd_pin, OUTPUT);</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  pinMode(_drive_left_back_pin, OUTPUT);</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  set_drive_left_state(DRIVESTOP);</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  ledcSetup(DRIVE_PWM_LEFT_CHANNEL, 5000, 8); <span class="comment">// channel , 50 Hz, 8-bit width</span></div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  ledcAttachPin(_drive_left_enable_pin, DRIVE_PWM_LEFT_CHANNEL); <span class="comment">// connect left drive enable with PWM channel</span></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>  <span class="comment">// Right drive</span></div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  pinMode(_drive_right_frwd_pin, OUTPUT);</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  pinMode(_drive_right_back_pin, OUTPUT);</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  set_drive_right_state(DRIVESTOP);</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  ledcSetup(DRIVE_PWM_RIGHT_CHANNEL, 5000, 8); <span class="comment">// channel , 50 Hz, 8-bit width</span></div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  ledcAttachPin(_drive_right_enable_pin, DRIVE_PWM_RIGHT_CHANNEL); <span class="comment">// connect right drive enable pin with PWM channel</span></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">// LEDs</span></div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  pinMode(_led_frwd_pin, OUTPUT);</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  pinMode(_led_stop_pin, OUTPUT);</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  pinMode(_led_left_pin, OUTPUT);</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  pinMode(_led_right_pin, OUTPUT);</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="comment">// all LEDS off</span></div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  set_leds_all_off();</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="comment">// Button & -interrupt</span></div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  button_last_pressed_at_ms = 0;</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  pinMode(_button_pin, INPUT_PULLUP);</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  attachInterrupt(digitalPinToInterrupt(_button_pin), _set_button_state, FALLING);</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span> </div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="comment">// Random</span></div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  randomSeed(analogRead(0));</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span> </div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="comment">//fun stuff</span></div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  coderacer_fun_enabled = <span class="keyword">false</span>;</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span> </div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span> }</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> <span class="comment">//**************************************</span></div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="comment">//*** Coderacer hihger level methods ***</span></div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span> <span class="comment">//**************************************</span></div><div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#ga71df7ac5e41ae776a6c786d3dc36f35a"> 161</a></span> <span class="comment"></span><span class="keywordtype">void</span> CodeRacer::stop_driving() {</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  _servo_sweep = <span class="keyword">false</span>;</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  _drive = <span class="keyword">false</span>;</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  set_drives_stop_left_right();</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDOFF, LEDOFF);</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span> }</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span> </div><div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#ga8be6a850099812153dcf5768d7fc8b8c"> 173</a></span> <span class="keywordtype">void</span> CodeRacer::drive_forward()</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span> {</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <a class="code" href="../../d2/d40/group__higherlevelmeths.html#ga8be6a850099812153dcf5768d7fc8b8c">drive_forward</a>(_drive_left_speed, _drive_right_speed);</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span> }</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span> </div><div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#gaae6fc379ec43cbe2cb2f63fbd12dbe0d"> 185</a></span> <span class="keywordtype">void</span> CodeRacer::drive_forward(uint8_t left_speed, uint8_t right_speed)</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span> {</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  set_drives_states_left_right(DRIVEFRWD, DRIVEFRWD);</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  set_drives_speed_left_right(left_speed, right_speed);</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF);</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  _drive = <span class="keyword">true</span>;</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  _drive_set_at_ms = millis();</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span> }</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span> </div><div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#ga98aa8a5a46f769d59e6c1067c8418cfb"> 199</a></span> <span class="keywordtype">void</span> CodeRacer::drive_backward()</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span> {</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  drive_backward(_drive_left_speed, _drive_right_speed);</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span> }</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span> </div><div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#ga6cd8356ac76360b014db6170276b6b30"> 211</a></span> <span class="keywordtype">void</span> CodeRacer::drive_backward(uint8_t left_speed, uint8_t right_speed)</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span> {</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  set_drives_states_left_right(DRIVEBACK, DRIVEBACK);</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  set_drives_speed_left_right(left_speed, right_speed);</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDON, LEDOFF);</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  _drive = <span class="keyword">true</span>;</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  _drive_set_at_ms = millis();</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span> }</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span> </div><div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#ga86b7caf6ff46e9d1ad90ed507864b175"> 226</a></span> <span class="keywordtype">void</span> CodeRacer::turn_left()</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span> {</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  turn_left(_turn_left_for_ms, _drive_left_speed, _drive_right_speed);</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> </div><div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#ga30e1ec3fbbc206f93ea66dbf91b5fd95"> 237</a></span> <span class="keywordtype">void</span> CodeRacer::turn_left(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_for_ms)</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span> {</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  turn_left(turn_for_ms, _drive_left_speed, _drive_right_speed);</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span> }</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span> </div><div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#gae6daa587199e5bf95b1aac675de53b0e"> 250</a></span> <span class="keywordtype">void</span> CodeRacer::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="l00251"></a><span class="lineno"> 251</span> {</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  _drive = <span class="keyword">false</span>;</div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF); <span class="comment">// LEDs setzen</span></div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  set_drives_states_left_right(DRIVEBACK, DRIVEFRWD);</div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  set_drives_speed_left_right(left_speed, right_speed);</div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="comment">// wait set delay for the timed turn</span></div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  _turn_left_for_ms = turn_for_ms;</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  delay(_turn_left_for_ms);</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="comment">// stop drives again</span></div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  set_drives_stop_left_right();</div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span> }</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span> </div><div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#ga8969fb2d6e2b5ac44a99197931e6b8da"> 269</a></span> <span class="keywordtype">void</span> CodeRacer::turn_right()</div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span> {</div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  turn_right(_turn_right_for_ms, _drive_left_speed, _drive_right_speed);</div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span> }</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div><div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#gae1f175aad98d773b0206f483ae0bb4ea"> 280</a></span> <span class="keywordtype">void</span> CodeRacer::turn_right(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_for_ms)</div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span> {</div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  turn_right(turn_for_ms, _drive_left_speed, _drive_right_speed);</div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span> }</div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span> </div><div class="line"><a name="l00293"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#gad10b3457489cc7e25ffb4d64c539528a"> 293</a></span> <span class="keywordtype">void</span> CodeRacer::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="l00294"></a><span class="lineno"> 294</span> {</div><div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  _drive = <span class="keyword">false</span>;</div><div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDON); <span class="comment">// LEDs setzen</span></div><div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  set_drives_states_left_right(DRIVEFRWD, DRIVEBACK);</div><div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  set_drives_speed_left_right(left_speed, right_speed);</div><div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="comment">// wait set delay for the timed turn</span></div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  _turn_right_for_ms = turn_for_ms;</div><div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  delay(_turn_right_for_ms);</div><div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="comment">// stop drives again</span></div><div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  set_drives_stop_left_right();</div><div class="line"><a name="l00304"></a><span class="lineno"> 304</span> }</div><div class="line"><a name="l00305"></a><span class="lineno"> 305</span> </div><div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#ga128683caea019a89bce06f722ba92556"> 314</a></span> <span class="keywordtype">void</span> CodeRacer::start_stop_at_min_distance() {</div><div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  start_stop_at_min_distance(_usonic_stop_distance_cm);</div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span> }</div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span> </div><div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#ga64bc1b2a8ed5bc3ec5e706fa70a1385d"> 324</a></span> <span class="keywordtype">void</span> CodeRacer::start_stop_at_min_distance(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> min_distance_cm) {</div><div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <span class="keywordflow">if</span> (<span class="keyword">false</span> == _coderacer_stop_at_distance_enabled) {</div><div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  _coderacer_stopped_at_min_distance = <span class="keyword">false</span>;</div><div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  usonic_set_stop_distance_cm(min_distance_cm);</div><div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  _coderacer_stop_at_distance_enabled = <span class="keyword">true</span>;</div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  }</div><div class="line"><a name="l00330"></a><span class="lineno"> 330</span> }</div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span> </div><div class="line"><a name="l00335"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#gac664109241d08b8dc52db5721f394b22"> 335</a></span> <span class="keywordtype">void</span> CodeRacer::stop_stop_at_min_distance() {</div><div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  _coderacer_stop_at_distance_enabled = <span class="keyword">false</span>;</div><div class="line"><a name="l00337"></a><span class="lineno"> 337</span> }</div><div class="line"><a name="l00338"></a><span class="lineno"> 338</span> </div><div class="line"><a name="l00348"></a><span class="lineno"><a class="line" href="../../d2/d40/group__higherlevelmeths.html#ga34e2fe2123e76fd844482dfef6c5a9c8"> 348</a></span> <span class="keywordtype">bool</span> CodeRacer::start_stop() {</div><div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordflow">if</span> (_coderracer_activ != coderracer_activ) {</div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  _coderracer_activ = coderracer_activ;</div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keywordflow">if</span> (<span class="keyword">true</span> == _coderracer_activ) {</div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  set_leds_all_off();</div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  delay(500);</div><div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  }</div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  <span class="keywordflow">else</span> {</div><div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  stop_driving();</div><div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  set_leds_all_on();</div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  delay(200);</div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  servo_set_to_center();</div><div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  _servo_look_around_at_ms = millis() + random(20000, 120000);</div><div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  }</div><div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  }</div><div class="line"><a name="l00363"></a><span class="lineno"> 363</span> </div><div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="keywordflow">if</span> ((<span class="keyword">false</span> == _coderracer_activ) && (<span class="keyword">true</span> == coderacer_fun_enabled)) {</div><div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  kitt();</div><div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  look_around();</div><div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  }</div><div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  </div><div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  <span class="keywordflow">return</span>(_coderracer_activ);</div><div class="line"><a name="l00370"></a><span class="lineno"> 370</span> }</div><div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="comment">// end of group higherlevelmeths</span></div><div class="line"><a name="l00380"></a><span class="lineno"><a class="line" href="../../d7/d45/group__higherlevelgetters.html#gae8b8c0ab24ccb572281785aeca8541e1"> 380</a></span> <span class="comment"></span><span class="keywordtype">bool</span> CodeRacer::stopped_at_min_distance() {</div><div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="keywordflow">return</span>(_coderacer_stopped_at_min_distance);</div><div class="line"><a name="l00382"></a><span class="lineno"> 382</span> }</div><div class="line"><a name="l00383"></a><span class="lineno"> 383</span> </div><div class="line"><a name="l00387"></a><span class="lineno"><a class="line" href="../../d7/d45/group__higherlevelgetters.html#ga33dcd96e9b12dec794c56be85ec1ee05"> 387</a></span> <span class="keywordtype">bool</span> CodeRacer::is_driving() {</div><div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="keywordflow">return</span>(_drive);</div><div class="line"><a name="l00389"></a><span class="lineno"> 389</span> }</div><div class="line"><a name="l00390"></a><span class="lineno"> 390</span> </div><div class="line"><a name="l00394"></a><span class="lineno"><a class="line" href="../../d7/d45/group__higherlevelgetters.html#gaf04fd16ca0e2ace656f9549c43d16459"> 394</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::turn_left_for_ms() {</div><div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keywordflow">return</span>(_turn_left_for_ms);</div><div class="line"><a name="l00396"></a><span class="lineno"> 396</span> }</div><div class="line"><a name="l00397"></a><span class="lineno"> 397</span> </div><div class="line"><a name="l00401"></a><span class="lineno"><a class="line" href="../../d7/d45/group__higherlevelgetters.html#gac0698f02f6a21d9d1f5b9cf2820306cf"> 401</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::turn_right_for_ms() {</div><div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <span class="keywordflow">return</span>(_turn_right_for_ms);</div><div class="line"><a name="l00403"></a><span class="lineno"> 403</span> }</div><div class="line"><a name="l00404"></a><span class="lineno"> 404</span> </div><div class="line"><a name="l00408"></a><span class="lineno"><a class="line" href="../../d7/d45/group__higherlevelgetters.html#ga62f1c0eea56e27d0853cb58f30eb140d"> 408</a></span> <span class="keywordtype">void</span> CodeRacer::set_inactive() {</div><div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  coderracer_activ = <span class="keyword">false</span>;</div><div class="line"><a name="l00410"></a><span class="lineno"> 410</span> }</div><div class="line"><a name="l00411"></a><span class="lineno"> 411</span> </div><div class="line"><a name="l00415"></a><span class="lineno"><a class="line" href="../../d7/d45/group__higherlevelgetters.html#ga415c69930f291d5e06b7211b31843310"> 415</a></span> <span class="keywordtype">void</span> CodeRacer::set_active() {</div><div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  coderracer_activ = <span class="keyword">true</span>;</div><div class="line"><a name="l00417"></a><span class="lineno"> 417</span> }</div><div class="line"><a name="l00418"></a><span class="lineno"> 418</span> </div><div class="line"><a name="l00424"></a><span class="lineno"><a class="line" href="../../d7/d45/group__higherlevelgetters.html#gaa0ab4d6a754a23ea13664a553bcc8ff2"> 424</a></span> <span class="keywordtype">bool</span> CodeRacer::is_active() {</div><div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  <span class="keywordflow">return</span>(coderracer_activ);</div><div class="line"><a name="l00426"></a><span class="lineno"> 426</span> }</div><div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  <span class="comment">// end of group higherlevelgetters // end of group higherlevel</span></div><div class="line"><a name="l00430"></a><span class="lineno"> 430</span> </div><div class="line"><a name="l00431"></a><span class="lineno"> 431</span> <span class="comment">//**************************************</span></div><div class="line"><a name="l00432"></a><span class="lineno"> 432</span> <span class="comment">//*** Just for fun ***</span></div><div class="line"><a name="l00433"></a><span class="lineno"> 433</span> <span class="comment">//**************************************</span></div><div class="line"><a name="l00440"></a><span class="lineno"><a class="line" href="../../d8/d7a/group__lowerlevelfun.html#ga04309a38252639a8eaa43809c04c11c8"> 440</a></span> <span class="comment"></span><span class="keywordtype">void</span> CodeRacer::look_around()</div><div class="line"><a name="l00441"></a><span class="lineno"> 441</span> {</div><div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  <span class="keywordflow">if</span> (_servo_look_around_at_ms < millis()) {</div><div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  _servo_look_around_at_ms = millis() + random(FUN_MIN_PAUSE_MS, FUN_MAX_PAUSE_MS);</div><div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  servo_set_to_left();</div><div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  delay(500);</div><div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  servo_set_to_right();</div><div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  delay(800);</div><div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  servo_set_to_center();</div><div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  delay(300);</div><div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  servo_set_to_left();</div><div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  delay(100);</div><div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  servo_set_to_center();</div><div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  }</div><div class="line"><a name="l00454"></a><span class="lineno"> 454</span> }</div><div class="line"><a name="l00455"></a><span class="lineno"> 455</span> </div><div class="line"><a name="l00459"></a><span class="lineno"><a class="line" href="../../d8/d7a/group__lowerlevelfun.html#ga3b6f819fb82d910888fbc87abff1470c"> 459</a></span> <span class="keywordtype">void</span> CodeRacer::kitt()</div><div class="line"><a name="l00460"></a><span class="lineno"> 460</span> {</div><div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  <span class="keywordflow">if</span> (millis() - _last_led_switched_at_ms > LED_SWITCH_MS) {</div><div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  _last_led_switched_at_ms = millis();</div><div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  <span class="keywordflow">if</span> (_last_led_on >= 5) {</div><div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  _led_count = -1;</div><div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  }</div><div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (_last_led_on <= 0) {</div><div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  _led_count = 1;</div><div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  }</div><div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  _last_led_on = _last_led_on + _led_count;</div><div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <span class="keywordflow">switch</span> (_last_led_on) {</div><div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <span class="keywordflow">case</span> 0:</div><div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF);</div><div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  <span class="keywordflow">case</span> 1:</div><div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  set_leds_left_stop_frwd_right(LEDON, LEDOFF, LEDOFF, LEDOFF);</div><div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  <span class="keywordflow">case</span> 2:</div><div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  set_leds_left_stop_frwd_right(LEDOFF, LEDON, LEDOFF, LEDOFF);</div><div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  <span class="keywordflow">case</span> 3:</div><div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDON, LEDOFF);</div><div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  <span class="keywordflow">case</span> 4:</div><div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  <span class="keywordflow">case</span> 5:</div><div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  set_leds_left_stop_frwd_right(LEDOFF, LEDOFF, LEDOFF, LEDON);</div><div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  }</div><div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  }</div><div class="line"><a name="l00489"></a><span class="lineno"> 489</span> }</div><div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <span class="comment">// end of group lowerlevelfun</span></div><div class="line"><a name="l00492"></a><span class="lineno"> 492</span> </div><div class="line"><a name="l00493"></a><span class="lineno"> 493</span> <span class="comment">//**************************************</span></div><div class="line"><a name="l00494"></a><span class="lineno"> 494</span> <span class="comment">//*** Servo drive lower level control ***</span></div><div class="line"><a name="l00495"></a><span class="lineno"> 495</span> <span class="comment">//**************************************</span></div><div class="line"><a name="l00510"></a><span class="lineno"><a class="line" href="../../db/dd5/group__lowerlevelservomeths.html#ga687beb327e20f4d0541d1ac9e29c01c3"> 510</a></span> <span class="comment"></span><span class="keywordtype">void</span> 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)</div><div class="line"><a name="l00511"></a><span class="lineno"> 511</span> {</div><div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  servo_center_pos = pos_center;</div><div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  servo_left_pos = pos_left;</div><div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  servo_right_pos = pos_right;</div><div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  servo_sweep_left_pos = sweep_left_pos;</div><div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  servo_sweep_right_pos = sweep_right_pos;</div><div class="line"><a name="l00517"></a><span class="lineno"> 517</span> }</div><div class="line"><a name="l00518"></a><span class="lineno"> 518</span> </div><div class="line"><a name="l00526"></a><span class="lineno"><a class="line" href="../../db/dd5/group__lowerlevelservomeths.html#ga1e9afe1f27dfc9796b4c9b3dba245365"> 526</a></span> <span class="keywordtype">void</span> CodeRacer::servo_sweep()</div><div class="line"><a name="l00527"></a><span class="lineno"> 527</span> {</div><div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  uint8_t position;</div><div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  _servo_sweep = <span class="keyword">true</span>;</div><div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  <span class="keywordflow">if</span> (millis() - _servo_position_set_at_ms > SERVO_SWEEP_MS) {</div><div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  position = _servo_position + _servo_sweep_step;</div><div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  <span class="comment">//sprintf(_debugmsg,"[%s] current position=%ld newpostion=%ld", __func__, _servo_position, position);</span></div><div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  <span class="keywordflow">if</span> ((position >= servo_sweep_left_pos) || (position >= SERVO_MAX_POSITION)) {</div><div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  position = servo_sweep_left_pos;</div><div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  _servo_sweep_step = SERVO_SWEEP_TO_RIGHT_STEP;</div><div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  }</div><div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  <span class="keywordflow">if</span> ((position <= servo_sweep_right_pos) || (position <= SERVO_MIN_POSITION)) {</div><div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  position = servo_sweep_right_pos;</div><div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  _servo_sweep_step = SERVO_SWEEP_TO_LEFT_STEP;</div><div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  }</div><div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  _servo_set_position(position);</div><div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  }</div><div class="line"><a name="l00543"></a><span class="lineno"> 543</span> }</div><div class="line"><a name="l00544"></a><span class="lineno"> 544</span> </div><div class="line"><a name="l00548"></a><span class="lineno"><a class="line" href="../../db/dd5/group__lowerlevelservomeths.html#gaac73bf99cf2d19f7b1987156aa842b74"> 548</a></span> <span class="keywordtype">void</span> CodeRacer::servo_set_to_right()</div><div class="line"><a name="l00549"></a><span class="lineno"> 549</span> {</div><div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  servo_set_position_wait(servo_right_pos);</div><div class="line"><a name="l00551"></a><span class="lineno"> 551</span> }</div><div class="line"><a name="l00552"></a><span class="lineno"> 552</span> </div><div class="line"><a name="l00556"></a><span class="lineno"><a class="line" href="../../db/dd5/group__lowerlevelservomeths.html#gaef7d1903b65a0a8ab4fafdc53080b07d"> 556</a></span> <span class="keywordtype">void</span> CodeRacer::servo_set_to_left()</div><div class="line"><a name="l00557"></a><span class="lineno"> 557</span> {</div><div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  servo_set_position_wait(servo_left_pos);</div><div class="line"><a name="l00559"></a><span class="lineno"> 559</span> }</div><div class="line"><a name="l00560"></a><span class="lineno"> 560</span> </div><div class="line"><a name="l00564"></a><span class="lineno"><a class="line" href="../../db/dd5/group__lowerlevelservomeths.html#gad1f28aa91079e88fc3093e3074edfb32"> 564</a></span> <span class="keywordtype">void</span> CodeRacer::servo_set_to_center()</div><div class="line"><a name="l00565"></a><span class="lineno"> 565</span> {</div><div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  servo_set_position_wait(servo_center_pos);</div><div class="line"><a name="l00567"></a><span class="lineno"> 567</span> }</div><div class="line"><a name="l00568"></a><span class="lineno"> 568</span> </div><div class="line"><a name="l00575"></a><span class="lineno"><a class="line" href="../../db/dd5/group__lowerlevelservomeths.html#ga0149226288bff2290d52ed1cbd674edd"> 575</a></span> uint8_t CodeRacer::servo_set_position_wait(uint8_t position)</div><div class="line"><a name="l00576"></a><span class="lineno"> 576</span> {</div><div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  _servo_sweep = <span class="keyword">false</span>;</div><div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> wait_time_ms = _servo_set_position(position);</div><div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  delay(wait_time_ms);</div><div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  <span class="keywordflow">return</span>(_servo_position);</div><div class="line"><a name="l00581"></a><span class="lineno"> 581</span> }</div><div class="line"><a name="l00582"></a><span class="lineno"> 582</span> </div><div class="line"><a name="l00589"></a><span class="lineno"><a class="line" href="../../db/dd5/group__lowerlevelservomeths.html#gab8831340049de6dbddeda997745725e6"> 589</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::servo_set_position(uint8_t position)</div><div class="line"><a name="l00590"></a><span class="lineno"> 590</span> {</div><div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  _servo_sweep = <span class="keyword">false</span>;</div><div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> wait_time_ms = _servo_set_position(position);</div><div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  <span class="keywordflow">return</span>(wait_time_ms);</div><div class="line"><a name="l00594"></a><span class="lineno"> 594</span> }</div><div class="line"><a name="l00595"></a><span class="lineno"> 595</span> </div><div class="line"><a name="l00596"></a><span class="lineno"> 596</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::_servo_set_position(uint8_t position)</div><div class="line"><a name="l00597"></a><span class="lineno"> 597</span> {</div><div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  uint8_t _position = position;</div><div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  uint8_t absdiff;</div><div class="line"><a name="l00600"></a><span class="lineno"> 600</span> </div><div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  <span class="keywordflow">if</span> (position < SERVO_MIN_POSITION) {</div><div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  _position = SERVO_MIN_POSITION;</div><div class="line"><a name="l00603"></a><span class="lineno"> 603</span>  }</div><div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (position > SERVO_MAX_POSITION) {</div><div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  _position = SERVO_MAX_POSITION;</div><div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  }</div><div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  _servo->write(_position);</div><div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  <span class="comment">// wait minimal delay to avoid code collaps</span></div><div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  delay(SERVO_SET_1TICK_POSITION_DELAY_MS); </div><div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  absdiff = abs(_servo_position - _position);</div><div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  <span class="keywordflow">if</span> (absdiff > 1) {</div><div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  _servo_position_eta_in_ms = absdiff * SERVO_SET_1TICK_POSITION_DELAY_MS;</div><div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  }</div><div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  <span class="keywordflow">else</span> {</div><div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  _servo_position_eta_in_ms = 0;</div><div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  }</div><div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  </div><div class="line"><a name="l00618"></a><span class="lineno"> 618</span>  _servo_position_set_at_ms = millis();</div><div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  _servo_position = _position;</div><div class="line"><a name="l00620"></a><span class="lineno"> 620</span> </div><div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  <span class="keywordflow">return</span>(_servo_position_eta_in_ms);</div><div class="line"><a name="l00622"></a><span class="lineno"> 622</span> }</div><div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  <span class="comment">// end of group lowerlevelservomeths</span></div><div class="line"><a name="l00632"></a><span class="lineno"><a class="line" href="../../d4/df4/group__lowerlevelservogetters.html#ga451b3ecd272e9a11de4b221f8d771432"> 632</a></span> <span class="comment"></span>uint8_t CodeRacer::servo_position() {</div><div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  <span class="keywordflow">return</span>(_servo_position);</div><div class="line"><a name="l00634"></a><span class="lineno"> 634</span> }</div><div class="line"><a name="l00635"></a><span class="lineno"> 635</span> </div><div class="line"><a name="l00639"></a><span class="lineno"><a class="line" href="../../d4/df4/group__lowerlevelservogetters.html#gaeed05a3d4e06adccebdfce207b734b2f"> 639</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::servo_position_set_at_ms() {</div><div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  <span class="keywordflow">return</span>(_servo_position_set_at_ms);</div><div class="line"><a name="l00641"></a><span class="lineno"> 641</span> }</div><div class="line"><a name="l00642"></a><span class="lineno"> 642</span> </div><div class="line"><a name="l00649"></a><span class="lineno"><a class="line" href="../../d4/df4/group__lowerlevelservogetters.html#ga84ba256b9ccdf0e9f4280279da68a509"> 649</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::servo_position_eta_in_ms() {</div><div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  <span class="keywordflow">return</span>(_servo_position_eta_in_ms);</div><div class="line"><a name="l00651"></a><span class="lineno"> 651</span> }</div><div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  <span class="comment">// end of group lowerlevelservogetters // end of group lowerlevelservo</span></div><div class="line"><a name="l00655"></a><span class="lineno"> 655</span> </div><div class="line"><a name="l00656"></a><span class="lineno"> 656</span> </div><div class="line"><a name="l00657"></a><span class="lineno"> 657</span> <span class="comment">//**************************************</span></div><div class="line"><a name="l00658"></a><span class="lineno"> 658</span> <span class="comment">//*** Ultrasonic lower level control ***</span></div><div class="line"><a name="l00659"></a><span class="lineno"> 659</span> <span class="comment">//**************************************</span></div><div class="line"><a name="l00672"></a><span class="lineno"><a class="line" href="../../d6/dfc/group__lowerlevelusmeths.html#ga5f034198a28b069478c454c63dbfa225"> 672</a></span> <span class="comment"></span><span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::usonic_measure_cm()</div><div class="line"><a name="l00673"></a><span class="lineno"> 673</span> {</div><div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  <span class="keywordflow">return</span>(usonic_measure_cm(US_MAX_ECHO_TIME_US));</div><div class="line"><a name="l00675"></a><span class="lineno"> 675</span> }</div><div class="line"><a name="l00676"></a><span class="lineno"> 676</span> </div><div class="line"><a name="l00682"></a><span class="lineno"><a class="line" href="../../d6/dfc/group__lowerlevelusmeths.html#gaa01602a576fd57609bc7e08f8ef32e58"> 682</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::usonic_measure_us()</div><div class="line"><a name="l00683"></a><span class="lineno"> 683</span>  {</div><div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  <span class="keywordflow">return</span>(usonic_measure_us(US_MAX_ECHO_TIME_US));</div><div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  }</div><div class="line"><a name="l00686"></a><span class="lineno"> 686</span> </div><div class="line"><a name="l00694"></a><span class="lineno"><a class="line" href="../../d6/dfc/group__lowerlevelusmeths.html#gafdd5c75d7a8e7b7c993e512ee93dde9a"> 694</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::usonic_measure_cm(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> max_echo_run_time_us)</div><div class="line"><a name="l00695"></a><span class="lineno"> 695</span> {</div><div class="line"><a name="l00696"></a><span class="lineno"> 696</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> echo_runtime_us = usonic_measure_us(max_echo_run_time_us);</div><div class="line"><a name="l00697"></a><span class="lineno"> 697</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> distance_cm = echo_runtime_us * 0.0172;</div><div class="line"><a name="l00698"></a><span class="lineno"> 698</span>  <span class="comment">//Serial.print("MEASURE_DISTANCE. Distance in cm is: ");</span></div><div class="line"><a name="l00699"></a><span class="lineno"> 699</span>  <span class="comment">//Serial.println(distance_cm);</span></div><div class="line"><a name="l00700"></a><span class="lineno"> 700</span>  _usonic_distance_cm = distance_cm;</div><div class="line"><a name="l00701"></a><span class="lineno"> 701</span>  <span class="keywordflow">return</span>(distance_cm);</div><div class="line"><a name="l00702"></a><span class="lineno"> 702</span> }</div><div class="line"><a name="l00703"></a><span class="lineno"> 703</span> </div><div class="line"><a name="l00711"></a><span class="lineno"><a class="line" href="../../d6/dfc/group__lowerlevelusmeths.html#ga1f3401ef472cb11997e7dc98ef3e2424"> 711</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::usonic_measure_us(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> max_echo_run_time_us)</div><div class="line"><a name="l00712"></a><span class="lineno"> 712</span> {</div><div class="line"><a name="l00713"></a><span class="lineno"> 713</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> echo_runtime_us[3] = { 0,0,0 };</div><div class="line"><a name="l00714"></a><span class="lineno"> 714</span>  uint8_t measnr = 0;</div><div class="line"><a name="l00715"></a><span class="lineno"> 715</span> </div><div class="line"><a name="l00716"></a><span class="lineno"> 716</span>  <span class="keywordflow">do</span> {</div><div class="line"><a name="l00717"></a><span class="lineno"> 717</span>  echo_runtime_us[measnr] = usonic_measure_single_shot_us(max_echo_run_time_us);</div><div class="line"><a name="l00718"></a><span class="lineno"> 718</span>  <span class="keywordflow">if</span> (echo_runtime_us[measnr] > 200) {</div><div class="line"><a name="l00719"></a><span class="lineno"> 719</span>  measnr++;</div><div class="line"><a name="l00720"></a><span class="lineno"> 720</span>  }</div><div class="line"><a name="l00721"></a><span class="lineno"> 721</span>  } <span class="keywordflow">while</span> (measnr < 3);</div><div class="line"><a name="l00722"></a><span class="lineno"> 722</span> </div><div class="line"><a name="l00723"></a><span class="lineno"> 723</span>  <span class="comment">// we will take the medium out of 3 values ... </span></div><div class="line"><a name="l00724"></a><span class="lineno"> 724</span>  <span class="keywordflow">if</span> (echo_runtime_us[0] > echo_runtime_us[1]) { std::swap(echo_runtime_us[0], echo_runtime_us[1]); }</div><div class="line"><a name="l00725"></a><span class="lineno"> 725</span>  <span class="keywordflow">if</span> (echo_runtime_us[1] > echo_runtime_us[2]) { std::swap(echo_runtime_us[1], echo_runtime_us[2]); }</div><div class="line"><a name="l00726"></a><span class="lineno"> 726</span>  <span class="keywordflow">if</span> (echo_runtime_us[0] > echo_runtime_us[1]) { std::swap(echo_runtime_us[0], echo_runtime_us[1]); }</div><div class="line"><a name="l00727"></a><span class="lineno"> 727</span> </div><div class="line"><a name="l00728"></a><span class="lineno"> 728</span>  <span class="comment">//Serial.print("MEASURE_DISTANCE_US. Echo runtime in us is: ");</span></div><div class="line"><a name="l00729"></a><span class="lineno"> 729</span>  <span class="comment">//Serial.println(echo_runtime_us[1]);</span></div><div class="line"><a name="l00730"></a><span class="lineno"> 730</span> </div><div class="line"><a name="l00731"></a><span class="lineno"> 731</span>  <span class="comment">// if the stop at minimal distance is enabeled - check for minimal distance is reached</span></div><div class="line"><a name="l00732"></a><span class="lineno"> 732</span>  <span class="keywordflow">if</span> (<span class="keyword">true</span> == _coderacer_stop_at_distance_enabled) {</div><div class="line"><a name="l00733"></a><span class="lineno"> 733</span>  <span class="keywordflow">if</span> (echo_runtime_us[1] <= _usonic_stop_distance_us) {</div><div class="line"><a name="l00734"></a><span class="lineno"> 734</span>  _coderacer_stopped_at_min_distance = <span class="keyword">true</span>;</div><div class="line"><a name="l00735"></a><span class="lineno"> 735</span>  stop_driving();</div><div class="line"><a name="l00736"></a><span class="lineno"> 736</span>  _coderacer_stop_at_distance_enabled = <span class="keyword">false</span>;</div><div class="line"><a name="l00737"></a><span class="lineno"> 737</span>  }</div><div class="line"><a name="l00738"></a><span class="lineno"> 738</span>  }</div><div class="line"><a name="l00739"></a><span class="lineno"> 739</span>  _usonic_distance_us = echo_runtime_us[1];</div><div class="line"><a name="l00740"></a><span class="lineno"> 740</span>  <span class="keywordflow">return</span>(echo_runtime_us[1]);</div><div class="line"><a name="l00741"></a><span class="lineno"> 741</span> }</div><div class="line"><a name="l00742"></a><span class="lineno"> 742</span> </div><div class="line"><a name="l00748"></a><span class="lineno"><a class="line" href="../../d6/dfc/group__lowerlevelusmeths.html#ga0c00edbbf4a3169613c9ea84d6e7dc13"> 748</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::usonic_measure_single_shot_cm()</div><div class="line"><a name="l00749"></a><span class="lineno"> 749</span> {</div><div class="line"><a name="l00750"></a><span class="lineno"> 750</span>  <span class="keywordflow">return</span>(usonic_measure_single_shot_cm(US_MAX_ECHO_TIME_US));</div><div class="line"><a name="l00751"></a><span class="lineno"> 751</span> }</div><div class="line"><a name="l00752"></a><span class="lineno"> 752</span> </div><div class="line"><a name="l00758"></a><span class="lineno"><a class="line" href="../../d6/dfc/group__lowerlevelusmeths.html#gad4309b6da17085575fb0c55559e240b8"> 758</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::usonic_measure_single_shot_us()</div><div class="line"><a name="l00759"></a><span class="lineno"> 759</span> {</div><div class="line"><a name="l00760"></a><span class="lineno"> 760</span>  <span class="keywordflow">return</span>(usonic_measure_single_shot_us(US_MAX_ECHO_TIME_US));</div><div class="line"><a name="l00761"></a><span class="lineno"> 761</span> }</div><div class="line"><a name="l00762"></a><span class="lineno"> 762</span> </div><div class="line"><a name="l00770"></a><span class="lineno"><a class="line" href="../../d6/dfc/group__lowerlevelusmeths.html#gab413551ea8a67e1b60eda1671029b645"> 770</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::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="l00771"></a><span class="lineno"> 771</span> {</div><div class="line"><a name="l00772"></a><span class="lineno"> 772</span>  <span class="comment">// convert into cm ... 344m/sec is the speed of noise - thus 34400cm/sec ... or 34,400cm/milisec ... or 0,0344cm/microsec</span></div><div class="line"><a name="l00773"></a><span class="lineno"> 773</span>  <span class="comment">// the echo has to go the distance twice - forth and back - so the duration has to be the half of the measured one</span></div><div class="line"><a name="l00774"></a><span class="lineno"> 774</span>  <span class="comment">// distance_cm = echo_duration/2 * 0,0344 or distance_cm = echo_duration/2 / 29,1 or distance_cm = echo_duration * 0,0172</span></div><div class="line"><a name="l00775"></a><span class="lineno"> 775</span>  <span class="comment">// distance_cm = (echo_duration/2) / 29.1;</span></div><div class="line"><a name="l00776"></a><span class="lineno"> 776</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> echo_runtime_us = usonic_measure_single_shot_us(max_echo_run_time_us);</div><div class="line"><a name="l00777"></a><span class="lineno"> 777</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> distance_cm = echo_runtime_us * 0.0172;</div><div class="line"><a name="l00778"></a><span class="lineno"> 778</span>  <span class="comment">//Serial.print("MEASURE_DISTANCE. Distance in cm is: ");</span></div><div class="line"><a name="l00779"></a><span class="lineno"> 779</span>  <span class="comment">//Serial.println(distance_cm);</span></div><div class="line"><a name="l00780"></a><span class="lineno"> 780</span>  _usonic_distance_cm = distance_cm;</div><div class="line"><a name="l00781"></a><span class="lineno"> 781</span>  <span class="keywordflow">return</span>(distance_cm);</div><div class="line"><a name="l00782"></a><span class="lineno"> 782</span> }</div><div class="line"><a name="l00783"></a><span class="lineno"> 783</span> </div><div class="line"><a name="l00791"></a><span class="lineno"><a class="line" href="../../d6/dfc/group__lowerlevelusmeths.html#ga1b5b43372082f5daeee47410a09a590c"> 791</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::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="l00792"></a><span class="lineno"> 792</span>  {</div><div class="line"><a name="l00793"></a><span class="lineno"> 793</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> echo_runtime_us;</div><div class="line"><a name="l00794"></a><span class="lineno"> 794</span>  <span class="comment">// start measurement - send a short pulse "HIGH" to the TRIG pin of the ultrasonic sensor</span></div><div class="line"><a name="l00795"></a><span class="lineno"> 795</span>  pinMode(_us_echo_pin, OUTPUT);</div><div class="line"><a name="l00796"></a><span class="lineno"> 796</span>  pinMode(_us_echo_pin, INPUT);</div><div class="line"><a name="l00797"></a><span class="lineno"> 797</span>  digitalWrite(_us_trigger_pin, LOW);</div><div class="line"><a name="l00798"></a><span class="lineno"> 798</span>  delayMicroseconds(2);</div><div class="line"><a name="l00799"></a><span class="lineno"> 799</span>  digitalWrite(_us_trigger_pin, HIGH);</div><div class="line"><a name="l00800"></a><span class="lineno"> 800</span>  delayMicroseconds(10);</div><div class="line"><a name="l00801"></a><span class="lineno"> 801</span>  digitalWrite(_us_trigger_pin, LOW);</div><div class="line"><a name="l00802"></a><span class="lineno"> 802</span>  <span class="comment">// measure runtime in microseconds until the ECHO pin aof the sensor goes HIGH</span></div><div class="line"><a name="l00803"></a><span class="lineno"> 803</span>  echo_runtime_us = pulseInLong(_us_echo_pin, HIGH, max_echo_run_time_us);</div><div class="line"><a name="l00804"></a><span class="lineno"> 804</span>  <span class="keywordflow">if</span> (echo_runtime_us == 0) {</div><div class="line"><a name="l00805"></a><span class="lineno"> 805</span>  echo_runtime_us = max_echo_run_time_us; <span class="comment">// US_MAX_ECHO_TIME_US;</span></div><div class="line"><a name="l00806"></a><span class="lineno"> 806</span>  }</div><div class="line"><a name="l00807"></a><span class="lineno"> 807</span>  <span class="comment">//Serial.print("MEASURE_DISTANCE_US. Echo runtime in us is: ");</span></div><div class="line"><a name="l00808"></a><span class="lineno"> 808</span>  <span class="comment">//Serial.println(echo_runtime_us);</span></div><div class="line"><a name="l00809"></a><span class="lineno"> 809</span>  _usonic_distance_us = echo_runtime_us;</div><div class="line"><a name="l00810"></a><span class="lineno"> 810</span>  <span class="keywordflow">return</span>(echo_runtime_us);</div><div class="line"><a name="l00811"></a><span class="lineno"> 811</span>  }</div><div class="line"><a name="l00812"></a><span class="lineno"> 812</span>  <span class="comment">// end of group lowerlevelusmethods</span></div><div class="line"><a name="l00825"></a><span class="lineno"><a class="line" href="../../db/ddd/group__lowerlevelusgetters.html#gaa7c5a6563a5736ed38d12f616de480df"> 825</a></span> <span class="comment"></span><span class="keywordtype">void</span> CodeRacer::usonic_set_stop_distance_cm(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> stop_distance_cm)</div><div class="line"><a name="l00826"></a><span class="lineno"> 826</span> {</div><div class="line"><a name="l00827"></a><span class="lineno"> 827</span>  _usonic_stop_distance_us = stop_distance_cm * 58.14;</div><div class="line"><a name="l00828"></a><span class="lineno"> 828</span> }</div><div class="line"><a name="l00829"></a><span class="lineno"> 829</span> </div><div class="line"><a name="l00837"></a><span class="lineno"><a class="line" href="../../db/ddd/group__lowerlevelusgetters.html#ga2f06c193ae86c5b1cba450caf5adf146"> 837</a></span> <span class="keywordtype">void</span> CodeRacer::usonic_set_stop_distance_us(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> stop_distance_us)</div><div class="line"><a name="l00838"></a><span class="lineno"> 838</span> {</div><div class="line"><a name="l00839"></a><span class="lineno"> 839</span>  _usonic_stop_distance_us = stop_distance_us;</div><div class="line"><a name="l00840"></a><span class="lineno"> 840</span> }</div><div class="line"><a name="l00841"></a><span class="lineno"> 841</span> </div><div class="line"><a name="l00845"></a><span class="lineno"><a class="line" href="../../db/ddd/group__lowerlevelusgetters.html#ga917b90f21e731ef5f690d5198e7f4d3e"> 845</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::usonic_distance_us() {</div><div class="line"><a name="l00846"></a><span class="lineno"> 846</span>  <span class="keywordflow">return</span>(_usonic_distance_us);</div><div class="line"><a name="l00847"></a><span class="lineno"> 847</span> }</div><div class="line"><a name="l00848"></a><span class="lineno"> 848</span> </div><div class="line"><a name="l00852"></a><span class="lineno"><a class="line" href="../../db/ddd/group__lowerlevelusgetters.html#gad59842c14196598e55644b2a22621454"> 852</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::usonic_distance_cm() {</div><div class="line"><a name="l00853"></a><span class="lineno"> 853</span>  <span class="keywordflow">return</span>(_usonic_distance_cm);</div><div class="line"><a name="l00854"></a><span class="lineno"> 854</span> }</div><div class="line"><a name="l00855"></a><span class="lineno"> 855</span>  <span class="comment">// end of group lowerlevelusgetters // end of group lowerlevelus</span></div><div class="line"><a name="l00858"></a><span class="lineno"> 858</span> </div><div class="line"><a name="l00859"></a><span class="lineno"> 859</span> </div><div class="line"><a name="l00860"></a><span class="lineno"> 860</span> <span class="comment">//**************************************</span></div><div class="line"><a name="l00861"></a><span class="lineno"> 861</span> <span class="comment">//*** Drives lower level control ***</span></div><div class="line"><a name="l00862"></a><span class="lineno"> 862</span> <span class="comment">//**************************************</span></div><div class="line"><a name="l00863"></a><span class="lineno"> 863</span> </div><div class="line"><a name="l00878"></a><span class="lineno"><a class="line" href="../../d1/d8a/group__lowerleveldrivesmeths.html#ga5812df751da5b480240ccd633c515b83"> 878</a></span> <span class="keywordtype">void</span> CodeRacer::drives_settings(uint8_t drive_left_speed, uint8_t drive_right_speed, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_left_for_ms, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_right_for_ms)</div><div class="line"><a name="l00879"></a><span class="lineno"> 879</span> {</div><div class="line"><a name="l00880"></a><span class="lineno"> 880</span>  _drive_left_speed = drive_left_speed;</div><div class="line"><a name="l00881"></a><span class="lineno"> 881</span>  _drive_right_speed = drive_right_speed;</div><div class="line"><a name="l00882"></a><span class="lineno"> 882</span>  _turn_left_for_ms = turn_left_for_ms;</div><div class="line"><a name="l00883"></a><span class="lineno"> 883</span>  _turn_right_for_ms = turn_right_for_ms;</div><div class="line"><a name="l00884"></a><span class="lineno"> 884</span> }</div><div class="line"><a name="l00885"></a><span class="lineno"> 885</span> </div><div class="line"><a name="l00889"></a><span class="lineno"><a class="line" href="../../d1/d8a/group__lowerleveldrivesmeths.html#ga61ed9e0415a62a290cc5c59a0f740304"> 889</a></span> <span class="keywordtype">void</span> CodeRacer::set_drives_stop_left_right() {</div><div class="line"><a name="l00890"></a><span class="lineno"> 890</span>  set_drive_left_state(DRIVESTOP);</div><div class="line"><a name="l00891"></a><span class="lineno"> 891</span>  set_drive_right_state(DRIVESTOP);</div><div class="line"><a name="l00892"></a><span class="lineno"> 892</span> }</div><div class="line"><a name="l00893"></a><span class="lineno"> 893</span> </div><div class="line"><a name="l00899"></a><span class="lineno"><a class="line" href="../../d1/d8a/group__lowerleveldrivesmeths.html#ga802d2646d9cc0d766e1ac799c7917fa8"> 899</a></span> <span class="keywordtype">void</span> CodeRacer::set_drives_states_left_right(drivestate stateleft, drivestate stateright) {</div><div class="line"><a name="l00900"></a><span class="lineno"> 900</span>  set_drive_left_state(stateleft);</div><div class="line"><a name="l00901"></a><span class="lineno"> 901</span>  set_drive_right_state(stateright);</div><div class="line"><a name="l00902"></a><span class="lineno"> 902</span> }</div><div class="line"><a name="l00903"></a><span class="lineno"> 903</span> </div><div class="line"><a name="l00908"></a><span class="lineno"><a class="line" href="../../d1/d8a/group__lowerleveldrivesmeths.html#ga1eeb3cb47503c3011562f9c42828fab9"> 908</a></span> <span class="keywordtype">void</span> CodeRacer::set_drive_left_state(drivestate state) {</div><div class="line"><a name="l00909"></a><span class="lineno"> 909</span>  set_drive_state(state, _drive_left_frwd_pin, _drive_left_back_pin);</div><div class="line"><a name="l00910"></a><span class="lineno"> 910</span> }</div><div class="line"><a name="l00911"></a><span class="lineno"> 911</span> </div><div class="line"><a name="l00916"></a><span class="lineno"><a class="line" href="../../d1/d8a/group__lowerleveldrivesmeths.html#ga1b34ec9cee1f21cd15db310167a2faa5"> 916</a></span> <span class="keywordtype">void</span> CodeRacer::set_drive_right_state(drivestate state) {</div><div class="line"><a name="l00917"></a><span class="lineno"> 917</span>  set_drive_state(state, _drive_right_frwd_pin, _drive_right_back_pin);</div><div class="line"><a name="l00918"></a><span class="lineno"> 918</span> }</div><div class="line"><a name="l00919"></a><span class="lineno"> 919</span> </div><div class="line"><a name="l00926"></a><span class="lineno"><a class="line" href="../../d1/d8a/group__lowerleveldrivesmeths.html#ga3b69cf4a718c842fbe758d3f4267214e"> 926</a></span> <span class="keywordtype">void</span> CodeRacer::set_drive_state(drivestate state, uint8_t frwdpin, uint8_t backpin) {</div><div class="line"><a name="l00927"></a><span class="lineno"> 927</span>  <span class="keywordflow">switch</span> (state) {</div><div class="line"><a name="l00928"></a><span class="lineno"> 928</span>  <span class="keywordflow">case</span> DRIVESTOP:</div><div class="line"><a name="l00929"></a><span class="lineno"> 929</span>  digitalWrite(frwdpin, LOW);</div><div class="line"><a name="l00930"></a><span class="lineno"> 930</span>  digitalWrite(backpin, LOW);</div><div class="line"><a name="l00931"></a><span class="lineno"> 931</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00932"></a><span class="lineno"> 932</span>  <span class="keywordflow">case</span> DRIVEFRWD:</div><div class="line"><a name="l00933"></a><span class="lineno"> 933</span>  digitalWrite(frwdpin, HIGH);</div><div class="line"><a name="l00934"></a><span class="lineno"> 934</span>  digitalWrite(backpin, LOW);</div><div class="line"><a name="l00935"></a><span class="lineno"> 935</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00936"></a><span class="lineno"> 936</span>  <span class="keywordflow">case</span> DRIVEBACK:</div><div class="line"><a name="l00937"></a><span class="lineno"> 937</span>  digitalWrite(frwdpin, LOW);</div><div class="line"><a name="l00938"></a><span class="lineno"> 938</span>  digitalWrite(backpin, HIGH);</div><div class="line"><a name="l00939"></a><span class="lineno"> 939</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00940"></a><span class="lineno"> 940</span>  }</div><div class="line"><a name="l00941"></a><span class="lineno"> 941</span> }</div><div class="line"><a name="l00942"></a><span class="lineno"> 942</span> </div><div class="line"><a name="l00950"></a><span class="lineno"><a class="line" href="../../d1/d8a/group__lowerleveldrivesmeths.html#ga3d3ffb41783d34589e33cf61fed46c70"> 950</a></span> <span class="keywordtype">void</span> CodeRacer::set_drives_speed_left_right(uint8_t speedleft, uint8_t speedright) {</div><div class="line"><a name="l00951"></a><span class="lineno"> 951</span>  set_drive_left_speed(speedleft);</div><div class="line"><a name="l00952"></a><span class="lineno"> 952</span>  set_drive_right_speed(speedright);</div><div class="line"><a name="l00953"></a><span class="lineno"> 953</span> }</div><div class="line"><a name="l00954"></a><span class="lineno"> 954</span> </div><div class="line"><a name="l00961"></a><span class="lineno"><a class="line" href="../../d1/d8a/group__lowerleveldrivesmeths.html#ga1ee3da20ec98a821ab97ced070974861"> 961</a></span> <span class="keywordtype">void</span> CodeRacer::set_drive_left_speed(uint8_t speed) {</div><div class="line"><a name="l00962"></a><span class="lineno"> 962</span>  set_drive_speed(speed, _drive_left_enable_pin);</div><div class="line"><a name="l00963"></a><span class="lineno"> 963</span> }</div><div class="line"><a name="l00964"></a><span class="lineno"> 964</span> </div><div class="line"><a name="l00971"></a><span class="lineno"><a class="line" href="../../d1/d8a/group__lowerleveldrivesmeths.html#gaf8805d0d620a2fb78c576f36a2c81073"> 971</a></span> <span class="keywordtype">void</span> CodeRacer::set_drive_right_speed(uint8_t speed) {</div><div class="line"><a name="l00972"></a><span class="lineno"> 972</span>  set_drive_speed(speed, _drive_right_enable_pin);</div><div class="line"><a name="l00973"></a><span class="lineno"> 973</span> }</div><div class="line"><a name="l00974"></a><span class="lineno"> 974</span> </div><div class="line"><a name="l00982"></a><span class="lineno"><a class="line" href="../../d1/d8a/group__lowerleveldrivesmeths.html#ga5d67c84606d5b39996a99fcd6e7eb314"> 982</a></span> <span class="keywordtype">void</span> CodeRacer::set_drive_speed(uint8_t speed, uint8_t enablepin) {</div><div class="line"><a name="l00983"></a><span class="lineno"> 983</span>  _analog_write(enablepin, (<span class="keywordtype">int</span>)speed);</div><div class="line"><a name="l00984"></a><span class="lineno"> 984</span> }</div><div class="line"><a name="l00985"></a><span class="lineno"> 985</span>  <span class="comment">// end of group lowerleveldrivesmethods</span></div><div class="line"><a name="l00994"></a><span class="lineno"><a class="line" href="../../d0/d0a/group__lowerleveldrivesgetters.html#ga09359a792e3299b1c20f6b99939ea7b3"> 994</a></span> <span class="comment"></span>uint8_t CodeRacer::drive_right_speed() {</div><div class="line"><a name="l00995"></a><span class="lineno"> 995</span>  <span class="keywordflow">return</span> _drive_right_speed;</div><div class="line"><a name="l00996"></a><span class="lineno"> 996</span> }</div><div class="line"><a name="l00997"></a><span class="lineno"> 997</span> </div><div class="line"><a name="l01001"></a><span class="lineno"><a class="line" href="../../d0/d0a/group__lowerleveldrivesgetters.html#ga804a45724f3788fd2fdb9631c66d1377"> 1001</a></span> uint8_t CodeRacer::drive_left_speed() {</div><div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>  <span class="keywordflow">return</span>(_drive_left_speed);</div><div class="line"><a name="l01003"></a><span class="lineno"> 1003</span> }</div><div class="line"><a name="l01004"></a><span class="lineno"> 1004</span> </div><div class="line"><a name="l01005"></a><span class="lineno"> 1005</span> <span class="keywordtype">void</span> CodeRacer::_analog_write(uint8_t pin, uint8_t speed) {</div><div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>  <span class="keywordflow">if</span> (pin == _drive_left_enable_pin) {</div><div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>  _drive_left_speed = speed;</div><div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>  ledcWrite(DRIVE_PWM_LEFT_CHANNEL, speed); </div><div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>  }</div><div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>  <span class="keywordflow">if</span> (pin == _drive_right_enable_pin) { </div><div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>  _drive_right_speed = speed;</div><div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>  ledcWrite(DRIVE_PWM_RIGHT_CHANNEL, speed); </div><div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>  }</div><div class="line"><a name="l01014"></a><span class="lineno"> 1014</span> }</div><div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>  <span class="comment">// end of group lowerleveldrivesgetters // end of group lowerleveldrives</span></div><div class="line"><a name="l01018"></a><span class="lineno"> 1018</span> </div><div class="line"><a name="l01019"></a><span class="lineno"> 1019</span> </div><div class="line"><a name="l01020"></a><span class="lineno"> 1020</span> <span class="comment">//**************************************</span></div><div class="line"><a name="l01021"></a><span class="lineno"> 1021</span> <span class="comment">//*** LED lower level control ***</span></div><div class="line"><a name="l01022"></a><span class="lineno"> 1022</span> <span class="comment">//**************************************</span></div><div class="line"><a name="l01037"></a><span class="lineno"><a class="line" href="../../dd/dff/group__lowerlevelledmeths.html#gab2514ca3994de3d64337dd6536fa6ef3"> 1037</a></span> <span class="comment"></span><span class="keywordtype">void</span> CodeRacer::set_leds_left_stop_frwd_right(ledstate leftled, ledstate stopled, ledstate frwdled, ledstate rightled) {</div><div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>  digitalWrite(_led_left_pin, leftled);</div><div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>  digitalWrite(_led_frwd_pin, frwdled);</div><div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>  digitalWrite(_led_right_pin, rightled);</div><div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>  digitalWrite(_led_stop_pin, stopled);</div><div class="line"><a name="l01042"></a><span class="lineno"> 1042</span> }</div><div class="line"><a name="l01043"></a><span class="lineno"> 1043</span> </div><div class="line"><a name="l01048"></a><span class="lineno"><a class="line" href="../../dd/dff/group__lowerlevelledmeths.html#gab4319e66963b1b71a34370d73962fa78"> 1048</a></span> <span class="keywordtype">void</span> CodeRacer::set_leds_all(ledstate alleds) {</div><div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>  digitalWrite(_led_left_pin, alleds);</div><div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>  digitalWrite(_led_frwd_pin, alleds);</div><div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>  digitalWrite(_led_right_pin, alleds);</div><div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>  digitalWrite(_led_stop_pin, alleds);</div><div class="line"><a name="l01053"></a><span class="lineno"> 1053</span> }</div><div class="line"><a name="l01054"></a><span class="lineno"> 1054</span> </div><div class="line"><a name="l01058"></a><span class="lineno"><a class="line" href="../../dd/dff/group__lowerlevelledmeths.html#gaa3f2ad08103127f2cb49344c33b666ea"> 1058</a></span> <span class="keywordtype">void</span> CodeRacer::set_leds_all_off() {</div><div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>  set_leds_all(LEDOFF);</div><div class="line"><a name="l01060"></a><span class="lineno"> 1060</span> }</div><div class="line"><a name="l01061"></a><span class="lineno"> 1061</span> </div><div class="line"><a name="l01065"></a><span class="lineno"><a class="line" href="../../dd/dff/group__lowerlevelledmeths.html#ga0c8b3d6ce992e1dcfd13fd86c9f89846"> 1065</a></span> <span class="keywordtype">void</span> CodeRacer::set_leds_all_on() {</div><div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>  set_leds_all(LEDON);</div><div class="line"><a name="l01067"></a><span class="lineno"> 1067</span> }</div><div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>  <span class="comment">// end of group lowerlevelledmets // end of group lowerlevelled</span></div><div class="line"><a name="l01071"></a><span class="lineno"> 1071</span> </div><div class="line"><a name="l01072"></a><span class="lineno"> 1072</span> </div><div class="line"><a name="l01073"></a><span class="lineno"> 1073</span> <span class="comment">//**************************************</span></div><div class="line"><a name="l01074"></a><span class="lineno"> 1074</span> <span class="comment">//*** ISRs ***</span></div><div class="line"><a name="l01075"></a><span class="lineno"> 1075</span> <span class="comment">//**************************************</span></div><div class="line"><a name="l01076"></a><span class="lineno"> 1076</span> <span class="comment">//IRAM_ATTR is used to load the code into DRAM and not to Flash to make it faster - required for ISRs</span></div><div class="line"><a name="l01077"></a><span class="lineno"> 1077</span> <span class="keywordtype">void</span> IRAM_ATTR CodeRacer::_set_button_state() {</div><div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>  <span class="keywordflow">if</span> ((millis() - button_last_pressed_at_ms) > BUTTON_BOUNCING_TIME_MS) {</div><div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>  button_last_pressed_at_ms = millis(); <span class="comment">// simplest debouncing - just wait ;-)</span></div><div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>  coderracer_activ = !coderracer_activ;</div><div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>  }</div><div class="line"><a name="l01082"></a><span class="lineno"> 1082</span> }</div><div class="line"><a name="l01083"></a><span class="lineno"> 1083</span> </div><div class="line"><a name="l01084"></a><span class="lineno"> 1084</span> </div><div class="line"><a name="l01085"></a><span class="lineno"> 1085</span> <span class="comment">//**********************************************************************************************************************</span></div><div class="line"><a name="l01086"></a><span class="lineno"> 1086</span> <span class="comment">//** Methods below this are obsolete and only in here for compatiblity to other projects - do not use them anymore !!!</span></div><div class="line"><a name="l01087"></a><span class="lineno"> 1087</span> <span class="comment">//**********************************************************************************************************************</span></div><div class="line"><a name="l01088"></a><span class="lineno"> 1088</span> <span class="keywordtype">void</span> CodeRacer::motor_einstellungen(uint8_t drive_left_speed, uint8_t drive_right_speed, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_left_for_ms, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> turn_right_for_ms)</div><div class="line"><a name="l01089"></a><span class="lineno"> 1089</span> {</div><div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>  drives_settings(drive_left_speed, drive_right_speed, turn_left_for_ms, turn_right_for_ms);</div><div class="line"><a name="l01091"></a><span class="lineno"> 1091</span> }</div><div class="line"><a name="l01092"></a><span class="lineno"> 1092</span> </div><div class="line"><a name="l01093"></a><span class="lineno"> 1093</span> <span class="keywordtype">void</span> 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)</div><div class="line"><a name="l01094"></a><span class="lineno"> 1094</span> {</div><div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>  servo_settings(pos_center, pos_left, pos_right, sweep_left_pos, sweep_right_pos);</div><div class="line"><a name="l01096"></a><span class="lineno"> 1096</span> }</div><div class="line"><a name="l01097"></a><span class="lineno"> 1097</span> </div><div class="line"><a name="l01098"></a><span class="lineno"> 1098</span> <span class="keywordtype">void</span> CodeRacer::servo_rechts()</div><div class="line"><a name="l01099"></a><span class="lineno"> 1099</span> {</div><div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>  Serial.println(<span class="stringliteral">"SERVO_RECHTS"</span>); <span class="comment">// Meldung am Monitor ausgeben</span></div><div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>  servo_set_to_right(); <span class="comment">// Servo auf den Winkel rechts drehen</span></div><div class="line"><a name="l01102"></a><span class="lineno"> 1102</span> }</div><div class="line"><a name="l01103"></a><span class="lineno"> 1103</span> </div><div class="line"><a name="l01104"></a><span class="lineno"> 1104</span> <span class="keywordtype">void</span> CodeRacer::servo_links()</div><div class="line"><a name="l01105"></a><span class="lineno"> 1105</span> {</div><div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>  Serial.println(<span class="stringliteral">"SERVO_LINKS"</span>); <span class="comment">// Meldung am Monitor ausgeben</span></div><div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>  servo_set_to_left(); <span class="comment">// Servo auf den Winkel links drehen</span></div><div class="line"><a name="l01108"></a><span class="lineno"> 1108</span> }</div><div class="line"><a name="l01109"></a><span class="lineno"> 1109</span> </div><div class="line"><a name="l01110"></a><span class="lineno"> 1110</span> <span class="keywordtype">void</span> CodeRacer::servo_mitte()</div><div class="line"><a name="l01111"></a><span class="lineno"> 1111</span> {</div><div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>  Serial.println(<span class="stringliteral">"SERVO_MITTE"</span>);</div><div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>  servo_set_to_center();</div><div class="line"><a name="l01114"></a><span class="lineno"> 1114</span> }</div><div class="line"><a name="l01115"></a><span class="lineno"> 1115</span> </div><div class="line"><a name="l01116"></a><span class="lineno"> 1116</span> <span class="keywordtype">void</span> CodeRacer::servo_schwenk()</div><div class="line"><a name="l01117"></a><span class="lineno"> 1117</span> {</div><div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>  servo_sweep();</div><div class="line"><a name="l01119"></a><span class="lineno"> 1119</span> }</div><div class="line"><a name="l01120"></a><span class="lineno"> 1120</span> </div><div class="line"><a name="l01121"></a><span class="lineno"> 1121</span> <span class="keywordtype">void</span> CodeRacer::links()</div><div class="line"><a name="l01122"></a><span class="lineno"> 1122</span> {</div><div class="line"><a name="l01123"></a><span class="lineno"> 1123</span>  Serial.println(<span class="stringliteral">"CODERACER_LINKS"</span>);</div><div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>  turn_left();</div><div class="line"><a name="l01125"></a><span class="lineno"> 1125</span> }</div><div class="line"><a name="l01126"></a><span class="lineno"> 1126</span> </div><div class="line"><a name="l01127"></a><span class="lineno"> 1127</span> <span class="keywordtype">void</span> CodeRacer::rechts()</div><div class="line"><a name="l01128"></a><span class="lineno"> 1128</span> {</div><div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>  Serial.println(<span class="stringliteral">"CODERACER_RECHTS"</span>);</div><div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>  turn_right();</div><div class="line"><a name="l01131"></a><span class="lineno"> 1131</span> }</div><div class="line"><a name="l01132"></a><span class="lineno"> 1132</span> </div><div class="line"><a name="l01133"></a><span class="lineno"> 1133</span> <span class="keywordtype">void</span> CodeRacer::anhalten()</div><div class="line"><a name="l01134"></a><span class="lineno"> 1134</span> {</div><div class="line"><a name="l01135"></a><span class="lineno"> 1135</span>  Serial.println(<span class="stringliteral">"CODERACER_ANHALTEN"</span>);</div><div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>  stop_driving();</div><div class="line"><a name="l01137"></a><span class="lineno"> 1137</span> }</div><div class="line"><a name="l01138"></a><span class="lineno"> 1138</span> </div><div class="line"><a name="l01139"></a><span class="lineno"> 1139</span> <span class="keywordtype">void</span> CodeRacer::vorwaerts()</div><div class="line"><a name="l01140"></a><span class="lineno"> 1140</span> {</div><div class="line"><a name="l01141"></a><span class="lineno"> 1141</span>  Serial.println(<span class="stringliteral">"CODERACER_VORWAERTS"</span>);</div><div class="line"><a name="l01142"></a><span class="lineno"> 1142</span>  drive_forward();</div><div class="line"><a name="l01143"></a><span class="lineno"> 1143</span> }</div><div class="line"><a name="l01144"></a><span class="lineno"> 1144</span> </div><div class="line"><a name="l01145"></a><span class="lineno"> 1145</span> <span class="keywordtype">void</span> CodeRacer::rueckwaerts()</div><div class="line"><a name="l01146"></a><span class="lineno"> 1146</span> {</div><div class="line"><a name="l01147"></a><span class="lineno"> 1147</span>  Serial.println(<span class="stringliteral">"CODERACER_RUECKWAERTS"</span>);</div><div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>  drive_backward();</div><div class="line"><a name="l01149"></a><span class="lineno"> 1149</span> }</div><div class="line"><a name="l01150"></a><span class="lineno"> 1150</span> </div><div class="line"><a name="l01151"></a><span class="lineno"> 1151</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> CodeRacer::abstand_messen()</div><div class="line"><a name="l01152"></a><span class="lineno"> 1152</span> {</div><div class="line"><a name="l01153"></a><span class="lineno"> 1153</span>  <span class="keywordflow">return</span>(0);</div><div class="line"><a name="l01154"></a><span class="lineno"> 1154</span>  </div><div class="line"><a name="l01155"></a><span class="lineno"> 1155</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> distance_cm = 0;</div><div class="line"><a name="l01156"></a><span class="lineno"> 1156</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> min_distance_cm = 1000;</div><div class="line"><a name="l01157"></a><span class="lineno"> 1157</span>  int8_t servo_turn_direction = 0;</div><div class="line"><a name="l01158"></a><span class="lineno"> 1158</span> </div><div class="line"><a name="l01159"></a><span class="lineno"> 1159</span> </div><div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>  <span class="comment">// while driving or sweeping there will be only one value be measured - else there will be mutiple measurements and the servor will be turning</span></div><div class="line"><a name="l01161"></a><span class="lineno"> 1161</span>  <span class="keywordflow">if</span> (((<span class="keyword">true</span> == _drive) || (servo_center_pos == _servo_position) || _servo_sweep == <span class="keyword">true</span>)) {</div><div class="line"><a name="l01162"></a><span class="lineno"> 1162</span>  <span class="comment">// while driving ...</span></div><div class="line"><a name="l01163"></a><span class="lineno"> 1163</span>  <span class="comment">//Serial.println("ABSTAND_MESSEN im fahren, direkt nach vorn oder Schwenk() ist aktiv ...");</span></div><div class="line"><a name="l01164"></a><span class="lineno"> 1164</span>  min_distance_cm = usonic_measure_cm();</div><div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l01166"></a><span class="lineno"> 1166</span>  <span class="comment">// no sweep, not driving ...</span></div><div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>  <span class="comment">//Serial.println("ABSTAND_MESSEN im Stand nach links oder rechts...");</span></div><div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>  <span class="comment">// are we already ath left or right with the servo ?</span></div><div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>  <span class="keywordflow">if</span> (servo_left_pos == _servo_position) {</div><div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>  <span class="comment">//Serial.println("ABSTAND_MESSEN. Linke Seite.");</span></div><div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>  <span class="comment">//left ...</span></div><div class="line"><a name="l01172"></a><span class="lineno"> 1172</span>  servo_turn_direction = SERVO_SWEEP_TO_RIGHT_STEP;</div><div class="line"><a name="l01173"></a><span class="lineno"> 1173</span>  }</div><div class="line"><a name="l01174"></a><span class="lineno"> 1174</span>  <span class="keywordflow">if</span> (servo_right_pos == _servo_position) {</div><div class="line"><a name="l01175"></a><span class="lineno"> 1175</span>  <span class="comment">//right ...</span></div><div class="line"><a name="l01176"></a><span class="lineno"> 1176</span>  <span class="comment">//Serial.println("ABSTAND_MESSEN rechte Seite.");</span></div><div class="line"><a name="l01177"></a><span class="lineno"> 1177</span>  servo_turn_direction = SERVO_SWEEP_TO_LEFT_STEP;</div><div class="line"><a name="l01178"></a><span class="lineno"> 1178</span>  }</div><div class="line"><a name="l01179"></a><span class="lineno"> 1179</span>  <span class="comment">// trun the servo and do measuring ... remember the smallest value</span></div><div class="line"><a name="l01180"></a><span class="lineno"> 1180</span>  <span class="keywordflow">do</span> {</div><div class="line"><a name="l01181"></a><span class="lineno"> 1181</span>  _servo_set_position(_servo_position + servo_turn_direction);</div><div class="line"><a name="l01182"></a><span class="lineno"> 1182</span>  <span class="comment">//Serial.print("ABSTAND_MESSEN. Servo position:");</span></div><div class="line"><a name="l01183"></a><span class="lineno"> 1183</span>  <span class="comment">//Serial.println(_servo_position);</span></div><div class="line"><a name="l01184"></a><span class="lineno"> 1184</span>  distance_cm = usonic_measure_cm();</div><div class="line"><a name="l01185"></a><span class="lineno"> 1185</span>  <span class="keywordflow">if</span> (distance_cm < min_distance_cm) {</div><div class="line"><a name="l01186"></a><span class="lineno"> 1186</span>  min_distance_cm = distance_cm;</div><div class="line"><a name="l01187"></a><span class="lineno"> 1187</span>  }</div><div class="line"><a name="l01188"></a><span class="lineno"> 1188</span>  } <span class="keywordflow">while</span> ((_servo_position > H_SERVO_CENTER_LEFT) || (_servo_position < H_SERVO_CENTER_RIGHT));</div><div class="line"><a name="l01189"></a><span class="lineno"> 1189</span>  }</div><div class="line"><a name="l01190"></a><span class="lineno"> 1190</span> </div><div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>  Serial.print(<span class="stringliteral">"ABSTAND_MESSEN. Der Abstand in cm ist (mindestens):"</span>);</div><div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>  Serial.println(min_distance_cm);</div><div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>  <span class="comment">//_min_distance_cm = min_distance_cm;</span></div><div class="line"><a name="l01194"></a><span class="lineno"> 1194</span> </div><div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>  <span class="keywordflow">return</span>(min_distance_cm);</div><div class="line"><a name="l01196"></a><span class="lineno"> 1196</span> </div><div class="line"><a name="l01197"></a><span class="lineno"> 1197</span> }</div><div class="line"><a name="l01198"></a><span class="lineno"> 1198</span> </div><div class="line"><a name="l01199"></a><span class="lineno"> 1199</span> <span class="comment">//**********************************************************************************************************************</span></div><div class="line"><a name="l01200"></a><span class="lineno"> 1200</span> <span class="comment">//** Helper methods</span></div><div class="line"><a name="l01201"></a><span class="lineno"> 1201</span> <span class="comment">//**********************************************************************************************************************</span></div><div class="line"><a name="l01202"></a><span class="lineno"> 1202</span> </div><div class="ttc" id="group__higherlevelmeths_html_ga8be6a850099812153dcf5768d7fc8b8c"><div class="ttname"><a href="../../d2/d40/group__higherlevelmeths.html#ga8be6a850099812153dcf5768d7fc8b8c">CodeRacer::drive_forward</a></div><div class="ttdeci">void drive_forward()</div><div class="ttdoc">Sets the speed and the directions of both drives so that it will move forward. </div><div class="ttdef"><b>Definition:</b> <a href="../../d4/da7/_code_racer_8cpp_source.html#l00173">CodeRacer.cpp:173</a></div></div>
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