From 1853351c7e2ef54cf44df50bcf39ff44a111ab2c Mon Sep 17 00:00:00 2001 From: Julia Magdalena Brandt <julia_magdalena.brandt@smail.th-koeln.de> Date: Fri, 6 Oct 2023 16:00:35 +0200 Subject: [PATCH] Upload New File --- config.h | 164 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 164 insertions(+) create mode 100644 config.h diff --git a/config.h b/config.h new file mode 100644 index 0000000..e06bcbe --- /dev/null +++ b/config.h @@ -0,0 +1,164 @@ +/* +########################################################## +######### 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 + +/* ************ * + * 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 \ No newline at end of file -- GitLab