PBS2H21ASH/Mikanum
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we bitmap now

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This commit is contained in:
Malte Schulze Hobeling
2023-01-24 19:49:29 +01:00
parent d9714a88f1
commit a5c87ab220
1 changed files with 109 additions and 135 deletions
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244
mecanum.ino
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@@ -1,21 +1,47 @@
#include <boarddefs.h> //#include <boarddefs.h>
#include <IRremote.h> #include <IRremote.h>
#include <IRremoteInt.h> //#include <IRremoteInt.h>
#include <ir_Lego_PF_BitStreamEncoder.h> //#include <ir_Lego_PF_BitStreamEncoder.h>
#define IR 4 #define IR 4
IRrecv irrecv(IR); IRrecv irrecv(IR);
//GPIO Wheels
#define WHEEL_FRONT_LEFT_F A0 #define WHEEL_FRONT_LEFT_F A0
#define WHEEL_REAR_LEFT_R A1 #define WHEEL_REAR_LEFT_R A1
#define WHEEL_REAR_RIGHT_F A2 #define WHEEL_REAR_RIGHT_F A2
#define WHEEL_FRONT_RIGHT_R A3 #define WHEEL_FRONT_RIGHT_R A3
#define WHEEL_FRONT_LEFT_R 10
#define WHEEL_REAR_LEFT_F 9
#define WHEEL_FRONT_RIGHT_F 8
#define WHEEL_REAR_RIGHT_R 7 #define WHEEL_REAR_RIGHT_R 7
#define WHEEL_FRONT_RIGHT_F 8
#define WHEEL_REAR_LEFT_F 9
#define WHEEL_FRONT_LEFT_R 10
/* //Response from Remote
#define RFORWARD 4060792887
#define RBACKWARD 4060752087
#define RSTRAFE_LEFT 4060768407
#define RSTRAFE_RIGHT 4060784727
#define RSTOP 4060801047
#define RTURN_LEFT 4060750047
#define RTURN_RIGHT 4060790847
#define RDIAG_LEFT_FOR 4060786767
#define RDIAG_RIGHT_BACK 4060778607
#define RDIAG_RIGHT_FOR 4060782687
#define RDIAG_LEFT_BACK 4060766367
//direction bitmaps
#define DSTOP 0b00000000
#define DFORWARD 0b11110000
#define DBACKWARD 0b00001111
#define DSTRAFE_LEFT 0b01101001
#define DSTRAFE_RIGHT 0b10010110
#define DDIAG_LEFT_FOR 0b01100000
#define DDIAG_RIGHT_BACK 0b00000110
#define DDIAG_RIGHT_FOR 0b10010000
#define DDIAG_LEFT_BACK 0b00001001
#define DTURN_LEFT 0b10100101
#define DTURN_RIGHT 0b01011010
/* All Responses
* 4060792887 ^ * 4060792887 ^
* 4060752087 v * 4060752087 v
* 4060768407 < * 4060768407 <
@@ -56,80 +82,19 @@ void setup() {
pinMode(WHEEL_FRONT_LEFT_F, OUTPUT); pinMode(WHEEL_FRONT_LEFT_F, OUTPUT);
} }
void drive(int direction) {
digitalWrite(WHEEL_FRONT_LEFT_F, direction & 0b10000000 ? LOW : HIGH);
digitalWrite(WHEEL_FRONT_RIGHT_F, direction & 0b01000000 ? LOW : HIGH);
digitalWrite(WHEEL_REAR_LEFT_F, direction & 0b00100000 ? LOW : HIGH);
digitalWrite(WHEEL_REAR_RIGHT_F, direction & 0b00010000 ? LOW : HIGH);
void stop(){ digitalWrite(WHEEL_FRONT_LEFT_R, direction & 0b00001000 ? LOW : HIGH);
digitalWrite(WHEEL_REAR_RIGHT_R, HIGH); digitalWrite(WHEEL_FRONT_RIGHT_R, direction & 0b00000100 ? LOW : HIGH);
digitalWrite(WHEEL_REAR_RIGHT_F, HIGH); digitalWrite(WHEEL_REAR_LEFT_R, direction & 0b00000010 ? LOW : HIGH);
digitalWrite(WHEEL_REAR_LEFT_R, HIGH); digitalWrite(WHEEL_REAR_RIGHT_R, direction & 0b00000001 ? LOW : HIGH);
digitalWrite(WHEEL_REAR_LEFT_F, HIGH);
digitalWrite(WHEEL_FRONT_RIGHT_R, HIGH);
digitalWrite(WHEEL_FRONT_RIGHT_F, HIGH);
digitalWrite(WHEEL_FRONT_LEFT_R, HIGH);
digitalWrite(WHEEL_FRONT_LEFT_F, HIGH);
}
void forward(){
digitalWrite(WHEEL_REAR_RIGHT_F, LOW);
digitalWrite(WHEEL_REAR_LEFT_F, LOW);
digitalWrite(WHEEL_FRONT_RIGHT_F, LOW);
digitalWrite(WHEEL_FRONT_LEFT_F, LOW);
}
void backward(){
digitalWrite(WHEEL_REAR_RIGHT_R, LOW);
digitalWrite(WHEEL_REAR_LEFT_R, LOW);
digitalWrite(WHEEL_FRONT_RIGHT_R, LOW);
digitalWrite(WHEEL_FRONT_LEFT_R, LOW);
}
void strafe_l(){
digitalWrite(WHEEL_REAR_RIGHT_R, LOW);
digitalWrite(WHEEL_REAR_LEFT_F, LOW);
digitalWrite(WHEEL_FRONT_RIGHT_F, LOW);
digitalWrite(WHEEL_FRONT_LEFT_R, LOW);
}
void strafe_r(){
digitalWrite(WHEEL_REAR_RIGHT_F, LOW);
digitalWrite(WHEEL_REAR_LEFT_R, LOW);
digitalWrite(WHEEL_FRONT_RIGHT_R, LOW);
digitalWrite(WHEEL_FRONT_LEFT_F, LOW);
}
void diag_l_f(){
digitalWrite(WHEEL_REAR_LEFT_F, LOW);
digitalWrite(WHEEL_FRONT_RIGHT_F, LOW);
}
void diag_r_r(){
digitalWrite(WHEEL_REAR_LEFT_R, LOW);
digitalWrite(WHEEL_FRONT_RIGHT_R, LOW);
}
void diag_r_f(){
digitalWrite(WHEEL_REAR_RIGHT_F, LOW);
digitalWrite(WHEEL_FRONT_LEFT_F, LOW);
}
void diag_l_r(){
digitalWrite(WHEEL_REAR_RIGHT_R, LOW);
digitalWrite(WHEEL_FRONT_LEFT_R, LOW);
}
void turn_l(){
digitalWrite(WHEEL_REAR_RIGHT_R, LOW);
digitalWrite(WHEEL_REAR_LEFT_F, LOW);
digitalWrite(WHEEL_FRONT_RIGHT_R, LOW);
digitalWrite(WHEEL_FRONT_LEFT_F, LOW);
}
void turn_r(){
digitalWrite(WHEEL_REAR_RIGHT_F, LOW);
digitalWrite(WHEEL_REAR_LEFT_R, LOW);
digitalWrite(WHEEL_FRONT_RIGHT_F, LOW);
digitalWrite(WHEEL_FRONT_LEFT_R, LOW);
} }
//MIK IR Remote.pdf S.12 I. Kübler
unsigned long getIRremote(){ unsigned long getIRremote(){
static unsigned long lastValue = 0; static unsigned long lastValue = 0;
decode_results irResults; decode_results irResults;
@@ -146,66 +111,75 @@ unsigned long getIRremote(){
void loop() { void loop() {
unsigned long remote = getIRremote(); unsigned long remote = getIRremote();
static unsigned long modus; static unsigned long mode;
static unsigned long lastMode = 0;
if(remote){ if(remote){
Serial.println(remote); Serial.println(remote);
modus = remote; mode = remote;
if(mode != lastMode){
drive(DSTOP);
delay(50);
lastMode = mode;
} }
if(modus == 4060792887){
forward();
}else if(modus == 4060801047){
stop();
}else if(modus == 4060752087){
backward();
}else if(modus == 4060768407){
strafe_l();
}else if(modus == 4060784727){
strafe_r();
}else if(modus == 4060750047){
turn_l();
}else if(modus == 4060790847){
turn_r();
}else if(modus == 4060786767){
diag_l_f();
}else if(modus == 4060778607){
diag_r_r();
}else if(modus == 4060782687){
diag_r_f();
}else if(modus == 4060766367){
diag_l_r();
} }
switch(mode){
case RFORWARD:
drive(DFORWARD);
break;
case RSTOP:
drive(DSTOP);
break;
case RBACKWARD:
drive(DBACKWARD);
break;
case RSTRAFE_LEFT:
drive(DSTRAFE_LEFT);
break;
case RSTRAFE_RIGHT:
drive(DSTRAFE_RIGHT);
break;
case RTURN_LEFT:
drive(DTURN_LEFT);
break;
case RTURN_RIGHT:
drive(DTURN_RIGHT);
break;
case RDIAG_LEFT_FOR:
drive(DDIAG_LEFT_FOR);
break;
case RDIAG_LEFT_BACK:
drive(DDIAG_LEFT_BACK);
break;
case RDIAG_RIGHT_FOR:
drive(DDIAG_RIGHT_FOR);
break;
case RDIAG_RIGHT_BACK:
drive(DDIAG_RIGHT_BACK);
break;
}
/* /*
stop(); if(mode == RFORWARD){
forward(); drive(DFORWARD);
delay(1000); }else if(mode == RSTOP){
stop(); drive(DSTOP);
backward(); }else if(mode == RBACKWARD){
delay(1000); drive(DBACKWARD);
stop(); }else if(mode == RSTRAFE_LEFT){
strafe_l(); drive(DSTRAFE_LEFT);
delay(1000); }else if(mode == RSTRAFE_RIGHT){
stop(); drive(DSTRAFE_RIGHT);
strafe_r(); }else if(mode == RTURN_LEFT){
delay(1000); drive(DTURN_LEFT);
stop(); }else if(mode == RTURN_RIGHT){
diag_l_f(); drive(DTURN_RIGHT);
delay(1000); }else if(mode == RDIAG_LEFT_FOR){
stop(); drive(DDIAG_LEFT_FOR);
diag_l_r(); }else if(mode == RDIAG_RIGHT_BACK){
delay(1000); drive(DDIAG_RIGHT_BACK);
stop(); }else if(mode == RDIAG_RIGHT_FOR){
diag_r_f(); drive(DDIAG_RIGHT_FOR);
delay(1000); }else if(mode == RDIAG_LEFT_BACK){
stop(); drive(DDIAG_LEFT_BACK);
diag_r_r(); }
delay(1000);
stop();
turn_l();
delay(1000);
stop();
turn_r();
delay(1000);
stop();
*/ */
} }