hallo erstmal
hab einen rp6 und wollte fragen was ich bei der änderung von datei 1 falsch mache?
wollte eigentlich nur eine bestimmte distanz rüchwärts fahren also 300 mmCode:/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - ROBOT BASE EXAMPLES
* ****************************************************************************
* Example: Movement 1
* Author(s): Dominik S. Herwald
* ****************************************************************************
* Description:
* This Example Program shows how to control the Motors.
*
* The RP6 moves in a circle. Provide enough of free space, please!
* If it hits an obstacle it will stop the motors and two LEDs will start
* to blink.
* It will stay in this state and wait until you restart the program!
*
* ############################################################################
* #+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+
*
* ATTENTION: THE ROBOT MOVES AROUND IN THIS EXAMPLE! PLEASE PROVIDE ABOUT
* 1m x 1m OR MORE FREE SPACE FOR THE ROBOT!
*
* >>> DO NOT FORGET TO REMOVE THE FLAT CABLE CONNECTION TO THE USB INTERFACE
* BEFORE YOU START THIS PROGRAM BY PRESSING THE START BUTTON ON THE ROBOT!
*
* (don't remove the USB Interface from the PC - only remove the flat cable
* connection between the Interface and the Robot!)
*
* #+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+
* ############################################################################
* ****************************************************************************
*/
/*****************************************************************************/
// Includes:
#include "RP6RobotBaseLib.h" // The RP6 Robot Base Library.
// Always needs to be included!
/**
* Here we react on any obstacle that we may hit.
* If any of the bumpers detects an obstacle, we stop the motors and start
* Stopwatch1 which controls a small blink LED routine.
*/
void bumpersStateChanged(void)
{
if(bumper_left || bumper_right)
changeDirection(BWD);
Move 300mm backwards at "MOVE_SPEED":
move(MOVE_SPEED, BWD, DIST_MM(300);
}
}
/**
* This function checks Stopwatch1 all the time. If stopwatch 1 is
* not running, the function does not do anything. As soon as the
* stopwatch is started, two LEDs begin to blink!
*/
void blink(void)
{
if(getStopwatch1() > 500) // 500ms
{
statusLEDs.LED2 = !statusLEDs.LED2; // Toggle LED bit in LED shadow register...
statusLEDs.LED5 = !statusLEDs.LED5;
updateStatusLEDs();
setStopwatch1(0);
}
}
/*****************************************************************************/
// Main:
int main(void)
{
initRobotBase();
setLEDs(0b111111);
mSleep(1500);
setLEDs(0b100001);
// Set Bumpers state changed event handler:
BUMPERS_setStateChangedHandler(bumpersStateChanged);
powerON(); // Turn Encoders, Motor Current Sensors
// (and ACS IR Receiver and PWRON LED) on.
// ATTENTION: Automatic Motor control will not work without this!
// -------------------------
// With the following two commands, the RP6 will start to move in a circle.
// We simply set the direction to forwards:
changeDirection(FWD);
// and afterwards we set the speed of the left and right motors to different
// values (80 for left, and 30 for right in this example):
moveAtSpeed(50,50);
// The function
// void moveAtSpeed(uint8_t desired_speed_left, uint8_t desired_speed_right)
// sets the desired speeds. The automatic motor control will try to maintain
// this speed even if the motors get blocked or the robot has to move up a
// ramp or drive over a small obstacle.
// At least this will be the case if you always call task_RP6System() frequently
// out of the main loop!
// Maximum speed is 200. And if you execute the command:
// moveAtSpeed(0,0);
// the Robot will stop and turn motors off.
// Values below 8 will not work properly as this is just too slow to regulate
// accurately.
// ATTENTION: If you use high speeds all the time, this will result in shorter
// gears and motors lifetime. It is recommended to use only speed values
// between 10 and 160! It is no problem to use 200 for some seconds, but
// you should not let the Robot drive at such high speed all the time!
// Main loop:
while(true)
{
// If we hit an obstacle, the bumperStateChanged Handler will start
// Stopwatch 1 and then this task will let two LEDs blink:
blink();
// In the main loop we need to call task_RP6System() all the time!
// This function calls the Motor control functions that automatically
// regulate the motor speed:
task_RP6System();
}
return 0;
}
aber er fährt dauerhaft rückwärts
danke für eure hilfe
jonas
