Probleme bei Programmierung
Hi Leute,
ich hab mich mal wieder an meinen NIBO2 gewagt um etwas zu programmieren.
Das Programm, soll den Nibo solange geradeaus fahren lassen, bis der Wert des copro_distance[2] größer als 3 wird.
Aber, der Motor schaltet irgendwie nicht ab. (letztendlich geht es nur um den unteren teil des Programms).
Code:
#include <nibo/niboconfig.h>
#include <nibo/display.h>
#include <nibo/gfx.h>
#include <nibo/copro.h>
#include <nibo/delay.h>
#include <nibo/iodefs.h>
#include <nibo/bot.h>
#include <avr/interrupt.h>
#include <nibo/spi.h>
#include <stdio.h>
#include <nibo/leds.h>
#include <stdint.h>
#include <nibo/pwm.h>
int main() {
sei();
bot_init();
spi_init();
display_init();
leds_init ();
pwm_init ();
//-------------------------------------------------------
copro_ir_startMeasure();
//-------------------------------------------------------
leds_set_headlights (1024); //Frontlicht setzen
leds_set_status(LEDS_GREEN, 2);
leds_set_status(LEDS_GREEN, 3);
//-------------------------------------------------------
void blinker_links () { // Blinker Links definieren
int a = 1;
while (a<=10){
leds_set_status (LEDS_ORANGE, 0);
leds_set_status (LEDS_ORANGE, 1);
delay (100);
leds_set_status (LEDS_OFF, 0);
leds_set_status (LEDS_OFF, 1);
delay (100);
a++;
}
}
//-------------------------------------------------------
void blinker_rechts () {
int b = 1;
while(b<=10) // Blinker Rechts definieren
{
leds_set_status (LEDS_ORANGE, 4);
leds_set_status (LEDS_ORANGE, 5);
delay (100);
leds_set_status (LEDS_OFF, 4);
leds_set_status (LEDS_OFF, 5);
delay (100);
b++;
}
}
//-------------------------------------------------------
void warnblinker () {
int c = 1;
while(c<=10) // Warnblinker definieren
{
leds_set_status (LEDS_ORANGE, 0);
leds_set_status (LEDS_ORANGE, 1);
leds_set_status (LEDS_ORANGE, 4);
leds_set_status (LEDS_ORANGE, 5);
delay (100);
leds_set_status (LEDS_OFF, 0);
leds_set_status (LEDS_OFF, 1);
leds_set_status (LEDS_OFF, 4);
leds_set_status (LEDS_OFF, 5);
delay (100);
c++;
}
}
//-------------------------------------------------------
copro_ir_startMeasure();
copro_setSpeedParameters(5, 6, 7);
void motor_geradeaus (){
while(1==1){
copro_setSpeed(20, 20);
}
}
//-------------------------------------------------------
while(1==1){
delay(10);
char text[20]="-- -- -- -- --";
// Co-Prozessor
if (copro_update()) {
sprintf(text, "x x x x x",
(uint16_t)copro_distance[0]/256,
(uint16_t)copro_distance[1]/256,
(uint16_t)copro_distance[2]/256,
(uint16_t)copro_distance[3]/256,
(uint16_t)copro_distance[4]/256);
while(copro_distance[2]<3){
motor_geradeaus ();
}
}
}
return 0;
}
mfg freekwave
