From b4cfb7a2de6e6a3df16cf5abe34625d91ef75536 Mon Sep 17 00:00:00 2001 From: reto Date: Mon, 22 Feb 2021 20:33:05 +0100 Subject: [PATCH] final --- .gitignore | 5 + .travis.yml | 67 ++++++++ .vscode/extensions.json | 7 + follower_bot_circle.ino.ino_save | 241 ++++++++++++++++++++++++++ include/README | 39 +++++ lib/README | 46 +++++ platformio.ini | 16 ++ src/main.cpp | 279 +++++++++++++++++++++++++++++++ test/README | 14 ++ 9 files changed, 714 insertions(+) create mode 100644 .gitignore create mode 100644 .travis.yml create mode 100644 .vscode/extensions.json create mode 100644 follower_bot_circle.ino.ino_save create mode 100644 include/README create mode 100644 lib/README create mode 100644 platformio.ini create mode 100644 src/main.cpp create mode 100644 test/README diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 0000000..7c486f1 --- /dev/null +++ b/.travis.yml @@ -0,0 +1,67 @@ +# Continuous Integration (CI) is the practice, in software +# engineering, of merging all developer working copies with a shared mainline +# several times a day < https://docs.platformio.org/page/ci/index.html > +# +# Documentation: +# +# * Travis CI Embedded Builds with PlatformIO +# < https://docs.travis-ci.com/user/integration/platformio/ > +# +# * PlatformIO integration with Travis CI +# < https://docs.platformio.org/page/ci/travis.html > +# +# * User Guide for `platformio ci` command +# < https://docs.platformio.org/page/userguide/cmd_ci.html > +# +# +# Please choose one of the following templates (proposed below) and uncomment +# it (remove "# " before each line) or use own configuration according to the +# Travis CI documentation (see above). +# + + +# +# Template #1: General project. Test it using existing `platformio.ini`. +# + +# language: python +# python: +# - "2.7" +# +# sudo: false +# cache: +# directories: +# - "~/.platformio" +# +# install: +# - pip install -U platformio +# - platformio update +# +# script: +# - platformio run + + +# +# Template #2: The project is intended to be used as a library with examples. +# + +# language: python +# python: +# - "2.7" +# +# sudo: false +# cache: +# directories: +# - "~/.platformio" +# +# env: +# - PLATFORMIO_CI_SRC=path/to/test/file.c +# - PLATFORMIO_CI_SRC=examples/file.ino +# - PLATFORMIO_CI_SRC=path/to/test/directory +# +# install: +# - pip install -U platformio +# - platformio update +# +# script: +# - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..e80666b --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,7 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ] +} diff --git a/follower_bot_circle.ino.ino_save b/follower_bot_circle.ino.ino_save new file mode 100644 index 0000000..5b2e9f7 --- /dev/null +++ b/follower_bot_circle.ino.ino_save @@ -0,0 +1,241 @@ +/****************************************************************************** +// FreakyBot Circle +/******************************************************************************/ + +/****************************************************************************** +/* Konfigruation +/******************************************************************************/ +//pins + +#define MDL 4 // Motor Direction Left +#define MSL 5 // Motor Speed Left +#define MSR 6 // Motor Speed Right +#define MDR 7 // Motor Direction Right + +int IrLedVr = 3; +int IrLedVl = 2; +int IrLedHr = 10; +int IrLedHl = 9; + +int IrRecVr = A3; +int IrRecVl = A2; +int IrRecHr = A0; +int IrRecHl = A1; +const int ledPin = 13; // the number of the LED pin + +#define DIST 65 // Define Minimum Distance + +// dino +/* +#define MTRF 200 // Motor Topspeed Right Forward +#define MTRB 200 // Motor Topspeed Right Backward +#define MTLF 170 // Motor Topspeed Left Forward +#define MTLB 180 // Motor Topspeed Left Backward +*/ + +// normal +#define MTRF 200 // Motor Topspeed Right Forward +#define MTLB 170 // Motor Topspeed Left Backward / Forw + +#define MTRB 200 // Motor Topspeed Right Backward +#define MTLF 170 // Motor Topspeed Left Forward / Backw + +// Variables +int lspeed = 0; // current speed of left motor +int rspeed = 0; // current speed of right motor +int spause = 1; // wait time if a whisker was touched +long delay_time = 0; // time when pause was triggered +int ledState = LOW; // ledState used to set the LED +long previousMillis = 0; // will store last time LED was updated +long interval = 5000; // interval at which to blink (milliseconds) +bool protsta = false; +bool motsta = true; + +/****************************************************************************** +/* Setup +/******************************************************************************/ +void setup () { + //motors + pinMode (MDL, OUTPUT); + pinMode (MSL, OUTPUT); + pinMode (MSR, OUTPUT); + pinMode (MDR, OUTPUT); + // all IR Leds / Recevier + pinMode(IrLedVr, OUTPUT); + pinMode(IrLedVl, OUTPUT); + pinMode(IrLedHr, OUTPUT); + pinMode(IrLedHl, OUTPUT); + pinMode(IrRecVr, INPUT); + pinMode(IrRecVl, INPUT); + pinMode(IrRecHr, INPUT); + pinMode(IrRecHl, INPUT); + // Serial Interface + Serial.begin(57600); + Serial.println(F("Robot Starting")); + delay(500); +} + +/****************************************************************************** +/* Hauptprogramm +/******************************************************************************/ +void loop () { + +// left / right +for ( int i = 0; i <=73; i++ ){ + drive(110,165); + delay(100); +} + +for ( int i = 0; i <=73; i++ ){ + drive(165,110); + delay(100); +} +} + +/****************************************************************************** +/* Funktionen +/******************************************************************************/ + +/****************************************************************************** +/* Funktion: Drive +/******************************************************************************/ +void drive( int left, int right) +{ + int lstate = LOW; + int rstate = LOW; + + left = constrain(left,-255,255); + right = constrain(right,-255,255); + +// invert left +left = left * -1; +// invert right +//right = right * -1; + + if (left >= 0) + { + // remap the motor value to the calibrated interval + // speed is alwas handled in the range of [-255..255] + left = map(left,0,255,0,MTLF); + } + else + { + lstate = HIGH; + left = 255 - map(-left,0,255,0,MTLB); + } + if (right >= 0) + { + right = map(right,0,255,0,MTRF); + } + else + { + rstate = HIGH; + right = 255 - map(-right,0,255,0,MTRB); + } + analogWrite(MSL, left); + digitalWrite(MDL, lstate); + analogWrite(MSR, right); + digitalWrite(MDR, rstate); + +} + +/****************************************************************************** + * Funktion: irRead (a,b) + * a: Pinnummer des Ir Empfängers + * b: Pinnummer des Ir Senders + * c: Modus: Space = Normalmodus returns HIGH if > DIST + * d = Distancemodus return Distance 0 to 100 mm + * Retourwert: HIGH = IR-Licht detektiert + * d.h. gemessener Wert unterscheidet sich zum Umgebungslicht + ******************************************************************************/ +int irRead(int readPin, int triggerPin, char mode) +{ + boolean zustand; + int umgebungswert = 0; + int irwert =0; + float uLichtzuIr; + + for (int i=0;i<10;i++) { + digitalWrite(triggerPin, LOW); + delay(5); + umgebungswert = umgebungswert + analogRead(readPin); + digitalWrite(triggerPin, HIGH); + delay(5); + irwert = irwert + analogRead(readPin); + } + + // Remove Umgebungswert + irwert = irwert - umgebungswert; + + // detect obstacle + if(irwert>DIST){ + zustand = HIGH; + }else{ + zustand = LOW; + } + + // for Debug + if(protsta && zustand || mode == 'd'){ +/* Serial.print("tr "); + Serial.print(triggerPin); + Serial.print(" r "); + Serial.print(readPin); + Serial.print(" um "); + Serial.print(umgebungswert); + Serial.print(" ir "); + Serial.print(irwert); + Serial.print(" % "); + Serial.print(uLichtzuIr); */ + + delay(5); + if(mode == 'd'){ + // Serial.print(" irwert "); + // Serial.print(irwert); + irwert = map(irwert, 0, 300, 100, -100); + // Serial.print(" dis "); + // Serial.println(irwert); +}; + return irwert; + } else { + return zustand; +// Serial.print(" zu "); +// Serial.println(zustand); + }; + +} + +// CHECKSERIAL) +//***************************************************************************** +void checkserial(){ + if ( Serial.available() > 0 ) { + // Read the incoming byte + char theChar = Serial.read(); + // Parse character + switch (theChar) { + case 'p': + Serial.println(F("protocoll on/off")); + delay(5); + if (protsta){ + protsta = false; + }else{ + protsta = true; + } + delay(5); + break; + case 'm': + delay(10); + if (motsta){ + motsta = false; + }else{ + motsta = true; + } + delay(5); + break; default: + // Display error message + Serial.print(F("ERROR: Command not found, it was: ")); + Serial.println(theChar); + Serial.println(F("p=protocoll on/off;m=motor on/off")); + break; + } + } + } // void checkserial diff --git a/include/README b/include/README new file mode 100644 index 0000000..194dcd4 --- /dev/null +++ b/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/lib/README b/lib/README new file mode 100644 index 0000000..6debab1 --- /dev/null +++ b/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into executable file. + +The source code of each library should be placed in a an own separate directory +("lib/your_library_name/[here are source files]"). + +For example, see a structure of the following two libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +PlatformIO Library Dependency Finder will find automatically dependent +libraries scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/platformio.ini b/platformio.ini new file mode 100644 index 0000000..d898166 --- /dev/null +++ b/platformio.ini @@ -0,0 +1,16 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:diecimilaatmega328] +platform = atmelavr +board = diecimilaatmega328 +framework = arduino +;set speed +monitor_speed = 57600 \ No newline at end of file diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..2ad5dca --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,279 @@ +#include +/****************************************************************************** +// FreakyBot Circle +/******************************************************************************/ + +/****************************************************************************** +/* Konfigruation +/******************************************************************************/ +//pins + +#define MDL 4 // Motor Direction Left +#define MSL 5 // Motor Speed Left +#define MSR 6 // Motor Speed Right +#define MDR 7 // Motor Direction Right + +int IrLedVr = 3; +int IrLedVl = 2; +int IrLedHr = 10; +int IrLedHl = 9; + +int IrRecVr = A3; +int IrRecVl = A2; +int IrRecHr = A0; +int IrRecHl = A1; +const int ledPin = 13; // the number of the LED pin + +#define DIST 65 // Define Minimum Distance + +// dino +/* +#define MTRF 200 // Motor Topspeed Right Forward +#define MTRB 200 // Motor Topspeed Right Backward +#define MTLF 170 // Motor Topspeed Left Forward +#define MTLB 180 // Motor Topspeed Left Backward +*/ + +// normal +#define MTRF 200 // Motor Topspeed Right Forward +#define MTLB 170 // Motor Topspeed Left Backward / Forw + +#define MTRB 200 // Motor Topspeed Right Backward +#define MTLF 170 // Motor Topspeed Left Forward / Backw + +// Variables +int lspeed = 0; // current speed of left motor +int rspeed = 0; // current speed of right motor +int spause = 1; // wait time if a whisker was touched +long delay_time = 0; // time when pause was triggered +int ledState = LOW; // ledState used to set the LED +long previousMillis = 0; // will store last time LED was updated +long interval = 5000; // interval at which to blink (milliseconds) +bool protsta = false; +bool motsta = true; + +/****************************************************************************** +/* Setup +/******************************************************************************/ +void setup() +{ + //motors + pinMode(MDL, OUTPUT); + pinMode(MSL, OUTPUT); + pinMode(MSR, OUTPUT); + pinMode(MDR, OUTPUT); + // all IR Leds / Recevier + pinMode(IrLedVr, OUTPUT); + pinMode(IrLedVl, OUTPUT); + pinMode(IrLedHr, OUTPUT); + pinMode(IrLedHl, OUTPUT); + pinMode(IrRecVr, INPUT); + pinMode(IrRecVl, INPUT); + pinMode(IrRecHr, INPUT); + pinMode(IrRecHl, INPUT); + // Serial Interface + Serial.begin(57600); + Serial.println(F("Robot Starting")); + delay(500); +} + +/****************************************************************************** +/* Funktionen +/******************************************************************************/ + +/****************************************************************************** +/* Funktion: Drive +/******************************************************************************/ +void drive(int left, int right) +{ + int lstate = LOW; + int rstate = LOW; + + left = constrain(left, -255, 255); + right = constrain(right, -255, 255); + + // invert left + left = left * -1; + // invert right + //right = right * -1; + + if (left >= 0) + { + // remap the motor value to the calibrated interval + // speed is alwas handled in the range of [-255..255] + left = map(left, 0, 255, 0, MTLF); + } + else + { + lstate = HIGH; + left = 255 - map(-left, 0, 255, 0, MTLB); + } + if (right >= 0) + { + right = map(right, 0, 255, 0, MTRF); + } + else + { + rstate = HIGH; + right = 255 - map(-right, 0, 255, 0, MTRB); + } + analogWrite(MSL, left); + digitalWrite(MDL, lstate); + analogWrite(MSR, right); + digitalWrite(MDR, rstate); +} + +/****************************************************************************** + * Funktion: irRead (a,b) + * a: Pinnummer des Ir Empfängers + * b: Pinnummer des Ir Senders + * c: Modus: Space = Normalmodus returns HIGH if > DIST + * d = Distancemodus return Distance 0 to 100 mm + * Retourwert: HIGH = IR-Licht detektiert + * d.h. gemessener Wert unterscheidet sich zum Umgebungslicht + ******************************************************************************/ +int irRead(int readPin, int triggerPin, char mode) +{ + boolean zustand; + int umgebungswert = 0; + int irwert = 0; + float uLichtzuIr; + + for (int i = 0; i < 10; i++) + { + digitalWrite(triggerPin, LOW); + delay(5); + umgebungswert = umgebungswert + analogRead(readPin); + digitalWrite(triggerPin, HIGH); + delay(5); + irwert = irwert + analogRead(readPin); + } + + // Remove Umgebungswert + irwert = irwert - umgebungswert; + + // detect obstacle + if (irwert > DIST) + { + zustand = HIGH; + } + else + { + zustand = LOW; + } + + // for Debug + if (protsta && zustand || mode == 'd') + { + /* Serial.print("tr "); + Serial.print(triggerPin); + Serial.print(" r "); + Serial.print(readPin); + Serial.print(" um "); + Serial.print(umgebungswert); + Serial.print(" ir "); + Serial.print(irwert); + Serial.print(" % "); + Serial.print(uLichtzuIr); */ + + delay(5); + if (mode == 'd') + { + // Serial.print(" irwert "); + // Serial.print(irwert); + irwert = map(irwert, 0, 300, 100, -100); + // Serial.print(" dis "); + // Serial.println(irwert); + }; + return irwert; + } + else + { + return zustand; + // Serial.print(" zu "); + // Serial.println(zustand); + }; +} + +// CHECKSERIAL) +//***************************************************************************** +void checkserial() +{ + if (Serial.available() > 0) + { + // Read the incoming byte + char theChar = Serial.read(); + // Parse character + switch (theChar) + { + case 'p': + Serial.println(F("protocoll on/off")); + delay(5); + if (protsta) + { + protsta = false; + } + else + { + protsta = true; + } + delay(5); + break; + case 'm': + delay(10); + if (motsta) + { + motsta = false; + } + else + { + motsta = true; + } + delay(5); + break; + default: + // Display error message + Serial.print(F("ERROR: Command not found, it was: ")); + Serial.println(theChar); + Serial.println(F("p=protocoll on/off;m=motor on/off")); + break; + } + } +} // void checkserial + +/****************************************************************************** +/* Hauptprogramm +/******************************************************************************/ +void loop() +{ + + // 8 klein + /* + for (int i = 0; i <= 93; i++) + { + drive(112, 165); + delay(100); + } + + for (int i = 0; i <= 107; i++) + { + drive(180, 108); + delay(100); + }*/ + + + // 8 Gross + for (int i = 0; i <= 128; i++) + { + drive(132, 165); + delay(100); + } + + for (int i = 0; i <= 150; i++) + { + drive(180, 128); + delay(100); + } + + +} diff --git a/test/README b/test/README new file mode 100644 index 0000000..96f4f4c --- /dev/null +++ b/test/README @@ -0,0 +1,14 @@ + +This directory is intended for PIO Unit Testing and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PIO Unit Testing: +- https://docs.platformio.org/page/plus/unit-testing.html + +linux vscode test 1 +windows test \ No newline at end of file