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config.h 4.94 KiB
/*
##########################################################
######### DIESES SKRIPT NICHT BEARBEITEN!!! ##############
##########################################################
*/
/* BITS-i sensor shematic
*
* +----#2-----L4-----#4----+
* L1| |L3
* | <------ |
* US1| #0 BITS-i |US2
* | |
* L1| |L3
* +----#1-----L2-----#3----+
*
* US1 - 2: Ultraschall Sensoren
* #0 - #4: Time of Flight Sensoren
* L1 - 4: LED Streifen
*
* #2 L4 #3
* ___ ___
* [_ _] [_ _] _
* /| ___S________S_ | \ L3
* / |-/ ____ [++| |+
* US1 #0 <<<<<---<| |>____O)<ooo>| US2
* \ |-\___ ________ _[++| |+
* \| _S_ _S_ |_/ L3
* [___] [___]
* #1 L2 #4
*
*/
#ifndef BITSIPARAMETER_H
#define BITSIPARAMETER_H
/* ************** *
* Debug Settings *
* ************** */
// #define DEBUG_TOF
// #define DEBUG_IMU
// #define DEBUG_COURSE
#define DEBUG_SERIAL
// #define WIFI_COMMUNICATION
#ifdef DEBUG_SERIAL
#define _println_(x) Serial.println(x)
#define _print_(x) Serial.print(x)
#else
#ifdef WIFI_COMMUNICATION
#define _println_(x) Serial3.println(x)
#define _print_(x) Serial3.print(x)
#else
#define _println_(x)
#define _print_(x)
#endif
#endif
/* ************ *
* Bibliotheken *
* ************ */
#include <bits_motor_driver_tb6612fng.h>
#include <thk_servo_controller.h>
#include <bits_time_of_flight_controller.h>
#include <thk_ir_controller.h>
#include <RF24.h>
#include <thk_imu.h>
#include <thk_ledstrip_controller.h>
#include <util/atomic.h> // For the ATOMIC_BLOCK macro
/* ************ *
* LED Streifen *
* ************ */
const int FRONT_LED_NUM = 13;
const int RIGHT_LED_NUM = 10;
const int BACK_LED_NUM = 10;
const int LEFT_LED_NUM = 10;
thk_LedStripController front_strip(FRONT_LED_NUM,33);
thk_LedStripController left_strip(LEFT_LED_NUM, 35);
thk_LedStripController right_strip(RIGHT_LED_NUM, 37);
thk_LedStripController back_strip(BACK_LED_NUM,39);
bool state = true;
uint8_t red, green, blue;
/* ************* *
* Antriebsmotor *
* ************* */
bits_MotorDriverTB6612FNG Motor;
uint8_t velocity = 100;
uint8_t velocity_backward = 80; // Geschwindigkeit für rückwährts fahren
/* ********** *
* Servomotor *
* ********** */
const int STEER_SERVO_PIN = 11;
const int STEER_ANGLE_MAX = 107; // Muss eventuell angepasst werden!
const int STEER_ANGLE_MIN = 43; // Muss eventuell angepasst werden!
const int STEER_START_POS = 90; // Muss eventuell angepasst werden!
int STEER_HALF_RIGHT = STEER_START_POS + (STEER_ANGLE_MAX-STEER_START_POS)/2;
int STEER_HALF_LEFT = STEER_START_POS - (STEER_START_POS-STEER_ANGLE_MIN)/2;
thk_ServoController ServoSteer(STEER_SERVO_PIN, STEER_START_POS, STEER_ANGLE_MAX, STEER_ANGLE_MIN);
const int SEARCH_SERVO_PIN = 12;
const int SEARCH_ANGLE_MAX = 180; // Muss eventuell angepasst werden!
const int SEARCH_ANGLE_MIN = 0; // Muss eventuell angepasst werden!
const int SEARCH_START_POS = 90; // Muss eventuell angepasst werden!
thk_ServoController ServoSearch(SEARCH_SERVO_PIN, SEARCH_START_POS, SEARCH_ANGLE_MAX, SEARCH_ANGLE_MIN);
float servo_steering_angle;
/* ****** *
* Buzzer *
* ****** */
const int BUZZER_PIN = A5;
/* *** *
* IMU *
* *** */
thk_IMU imu(0);
float yaw, pitch, roll;
/* ******************* *
* Ultraschallsensoren *
* ******************* */
#define TRIGF 4
#define ECHOF 2
#define TRIGB 7
#define ECHOB 3
int entfernung;
double dauer;
/* *********************** *
* Time of flight Sensoren *
* *********************** */
int tof_l_1, tof_r_1, tof_l_2, tof_r_2;
bits_TimeOfFlightController tof_controller(8000);
// Choose which ToF is mounted on the servo
#define TOF_VL53L0X
// #define TOF_TFLUNA
#ifdef TOF_TFLUNA // TFLuna-I2C Library v.0.1.1
#include <TFLI2C.h>
TFLI2C tflI2C;
int16_t tfDist; // distance in centimeters
int16_t tfAddr = TFL_DEF_ADR; // Use this default I2C address or
// set variable to your own value
#endif
/* ************ *
* IR Empfänger *
* ************ */
const uint8_t IR_PIN = 46;
thk_IrController ir_sensor(IR_PIN);
/* ******** *
* NRF24L01 *
* ******** */
int ReceivedMessage[3];
RF24 radio(49, 53); // NRF24L01 used SPI pins + CE Pin 49 and CSN PIN 53 on the Mega Pro
const uint64_t pipe = 0xE6E6E6E6E6E6; // Needs to be the same for communicating between 2 NRF24L01
/* ********* *
* Sonstiges *
* ********* */
long start;
int sensor_distance = 19; // Abstand der Seitlichen ToFs von einander in cm
float weighted_distance;
const int MIN_DIST_F = 35; // Mindest Abstand für Vorne
const int MIN_DIST_B = 10; // Mindest Abstand für Hinten
const int PATH_DISTANCE = 60; // Abstand, der auf eine Abzweigung deutet.
int US_distance_f, US_distance_b;
int tof_distance_front;
float output_value;
#endif