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Ibrahim Mohammad
BitS2 bare Minimum
Commits
1853351c
Commit
1853351c
authored
1 year ago
by
Julia Magdalena Brandt
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1853351c
/*
##########################################################
######### 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
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