From 48792a3a776d38e1f3cd35462858b862d153a4d5 Mon Sep 17 00:00:00 2001
From: "sven_marian.goebel" <sven_marian.goebel@smail.th-koeln.de>
Date: Fri, 22 Dec 2023 12:37:25 +0100
Subject: [PATCH] Motor Pins 7 & 8 changed, Case 8.1 & 8.2 conditions changed,
check_voltage changed from number based to time based, backward_factor &
search_factor changed (needs revisit)
---
BitS1-Robotcar.ino | 1 -
Robotcar_functions.h | 80 +++++++++++++++++++++++++-------------------
2 files changed, 45 insertions(+), 36 deletions(-)
diff --git a/BitS1-Robotcar.ino b/BitS1-Robotcar.ino
index 93d83ba..44ec96a 100644
--- a/BitS1-Robotcar.ino
+++ b/BitS1-Robotcar.ino
@@ -35,7 +35,6 @@ int white_surface_reflection = 150;
void setup()
{ //Innerhalb dieser Funktion wird alles einmal bei Start des Arduinos aufgerufen
Robotcar_functions_object.initialise();
- search_time = 1.5 * total_velocity;
}
void loop()
diff --git a/Robotcar_functions.h b/Robotcar_functions.h
index 620feaf..69eb29b 100644
--- a/Robotcar_functions.h
+++ b/Robotcar_functions.h
@@ -17,6 +17,12 @@
IFK TH Köln
Last Modified:
+ 22.12.2023
+ backward_factor and search_factor needs revisit
+ Fall 8.1 & 8.2 if and else conditions adapted
+ MOTOR_IN1 & 2 changed to PIN7
+ MOTOR_IN3 & 4 changed to PIN8
+ check_voltage() changed from quantity sensitive to time sensitive (2000ms)
21.08.2023
Switch from libraries "DeviceDriverSet_xxx0" to "thk-motor-driver-v2.0" & "MPU6050_getdata" to "thk_imu-v2.0"
08 September 2022
@@ -39,11 +45,11 @@
const int MOTOR_COUNT = 1;
const int MOTOR_STBY = 3;
const int MOTOR_PWM_A = 5;
-const int MOTOR_IN1 = 8;
-const int MOTOR_IN2 = 8;
+const int MOTOR_IN1 = 7;
+const int MOTOR_IN2 = 7;
const int MOTOR_PWM_B = 6;
-const int MOTOR_IN3 = 7;
-const int MOTOR_IN4 = 7;
+const int MOTOR_IN3 = 8;
+const int MOTOR_IN4 = 8;
thk_MotorDriverTB6612FNG motorR(MOTOR_COUNT, MOTOR_STBY, MOTOR_PWM_A, MOTOR_IN1, MOTOR_IN2, 0, 0, 0);
thk_MotorDriverTB6612FNG motorL(MOTOR_COUNT, MOTOR_STBY, MOTOR_PWM_B, MOTOR_IN3, MOTOR_IN4, 0, 0, 0);
@@ -55,22 +61,24 @@ extern unsigned long start_time = 0;
char commandline_input = 'E';
char last_direction = 'D';
int commandline_output = 3;
-int not_enough_voltage_counter = 0;
-int low_voltage_counter = 0;
int modecounter;
int obstacle_velocity = 0;
int no_reflection = 950;
int divisor = 1000;
int rest = divisor / 2;
+int voltagetimer = 0;
boolean mode_changed = false;
float voltage_low = 7.2;
float voltage_min = 7.0;
float yaw = 0;
float pitch = 0;
float roll = 0;
-float backward_factor = 5.0;
+float backward_factor = 3.0; //Neuer backward_factor: Muss getestet werden
+float search_factor = 120000; //Neuer search_facotr: Muss getestet werden
+boolean last_d_F = false; //test
+int delay_factor = 10; //Neuer factor, muss getestet werden DELAY beim stehenbleiben könnte quadratisch mit der Geschwindigkeit skalieren?
+float search_time = 0;
unsigned long time_drive = 0;
-float search_time = 200;
float line_factor = 1.2;
CRGB leds[NUM_LEDS];
@@ -144,6 +152,7 @@ class Robotcar_functions
{
turn_factor = turn_factor * -1.0;
}
+ search_time = search_factor*1/((float)total_velocity);
}
@@ -399,34 +408,25 @@ class Robotcar_functions
}
}
- int check_voltage()
+ int check_voltage() //gibt 0 wieder wenn Spannug zu niedrig, 1 wenn Spannung niedrig, 2 wenn Spannung gut
{
float voltage = analogRead(Voltage_pin) * 0.0375;
voltage = voltage + (voltage * 0.08);
- if (voltage < voltage_min)
+ if (voltage > voltage_min) //Wenn die gemessene Spannung größer ist, als die mindest Spannung...
{
- not_enough_voltage_counter++;
-
- if (not_enough_voltage_counter >= 500)
+ voltagetimer = millis(); //Speichere die Systemzeit auf die Variable voltagetimer
+ return 2;
+ } else if((millis()-voltagetimer)>=2000) //Überprüfe, ob 2 Sekunden lang die Spannung zu niedrig ist
+ {
+ if(voltage > voltage_low){
+ return 1;
+ } else
{
- current_mode = standby_mode;
- leds[0] = CRGB::Red;
- FastLED.show();
+ return 0;
}
- }
- if (voltage < voltage_low)
- {
- low_voltage_counter++;
- }
- if (not_enough_voltage_counter >= 500)
- {
- return 0;
- } else if (not_enough_voltage_counter < 499 && low_voltage_counter >= 500) {
- return 1;
} else {
return 2;
}
-
}
@@ -589,35 +589,45 @@ class Robotcar_functions
time_drive = millis();
}
else if ((optic_Robotcar_functions_object[0] < white_surface_reflection) && (optic_Robotcar_functions_object[1] < white_surface_reflection) && (optic_Robotcar_functions_object[2] < white_surface_reflection)) // Fall 8
- {
+ {
if ((last_direction == 'L')) // Fall 8.1 (Fahrzeug sucht die Linie mit zeitlicher Begrenzung)
{
- if (millis() - time_drive >= search_time)
+ if (millis() - time_drive < search_time)
+ {
+ drive(Left, turn_velocity);
+ }
+ else if(millis() - time_drive < 2*search_time)
{
drive(Right, turn_velocity);
}
- else
+ else
{
- drive(Left, turn_velocity);
+ drive(Break, 0);
+ current_mode = standby_mode;
}
}
else if ((last_direction == 'R')) // Fall 8.2 (Fahrzeug sucht die Linie mit zeitlicher Begrenzung)
{
- if (millis() - time_drive >= search_time)
+ if (millis() - time_drive < search_time)
+ {
+ drive(Right, turn_velocity);
+ }
+ else if(millis() - time_drive < 2*search_time)
{
drive(Left, turn_velocity);
}
- else
+ else
{
- drive(Right, turn_velocity);
+ drive(Break, 0);
+ current_mode = standby_mode;
}
}
else if (last_direction == 'F') // Fall 8.3 (Fahrzeug fährt Rückwärts bis wieder eine Linie erkannt wird)
{
drive(Break, 0);
- delay(2000);
+ delay(total_velocity*delay_factor);
while ((get_brightness('L') < white_surface_reflection) && (get_brightness('M') < white_surface_reflection) && (get_brightness('R') < white_surface_reflection))
{
drive(Backward, (total_velocity / backward_factor));
--
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