Hi Paolo,
da hast du ja jetzt ne Menge Möglichkeiten, die Fahrtregler anzusteuern.
Hier kommt noch eine:
Wenn du meine RP6BaseServoLib für 8 Servos aus diesem Beitrag:
https://www.roboternetz.de/phpBB2/ze...ag.php?t=45180
... nehmen willst, dann hier eine Demo dafür zur Ansteuerung eines Fahrtreglers an der Status LED 1:
Code:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - ROBOT BASE TESTS
* ****************************************************************************
* Test: Servo Test 2
* Author(s): Dirk
* ****************************************************************************
* Description:
* This is a small test for the RP6 Base Servo Library for the RP6 ROBOT BASE.
*
* COMMENT: It is a good idea to use a separate power supply for the servos!
*
* Servo connections:
* SERVO1 -> Status LED 1 (SL1) SERVO5 -> Status LED 5 (SL5)
* SERVO2 -> Status LED 2 (SL2) SERVO6 -> Status LED 6 (SL6)
* SERVO3 -> Status LED 3 (SL3) SERVO7 -> PC0 (I2C bus: SCL)
* SERVO4 -> Status LED 4 (SL4) SERVO8 -> PC1 (I2C bus: SDA)
* If you want to use the RP6 bumpers in your program, you should not
* connect Servos to SL3 and SL6.
* It is not possible to use the I2C bus, if Servos are connected to SCL
* and/or SDA. Instead of SCL/SDA you could use ADC0/ADC1 for servo 7/8,
* if you want to use the I2C bus.
*
* ############################################################################
* The Robot does NOT move in this example! You can simply put it on a table
* next to your PC and you should connect it to the PC via the USB Interface!
* ############################################################################
* ****************************************************************************
*/
/*****************************************************************************/
// Includes:
#include "RP6BaseServoLib.h" // The RP6 Base Servo Library.
/*****************************************************************************/
// Defines:
#define MOTOR_FORWARD_FULL RIGHT_TOUCH
#define MOTOR_FORWARD_HALF (MIDDLE_POSITION / 2 + MIDDLE_POSITION)
#define MOTOR_STOP MIDDLE_POSITION
#define MOTOR_BACK_HALF (MIDDLE_POSITION / 2)
#define MOTOR_BACK_FULL 0
/*****************************************************************************/
// Variables:
uint16_t pos = 0;
/*****************************************************************************/
// Functions:
/*****************************************************************************/
// Main function - The program starts here:
int main(void)
{
initRobotBase(); // Always call this first! The Processor will not work
// correctly otherwise.
// ---------------------------------------
// Write messages to the Serial Interface:
writeString_P("\n\n _______________________\n");
writeString_P(" \\| RP6 ROBOT SYSTEM |/\n");
writeString_P(" \\_-_-_-_-_-_-_-_-_-_/\n\n");
writeString_P("################\n");
writeString_P("<<RP6 Base>>\n");
writeString_P(" Servo - Test 2 \n");
writeString_P(" Version 1.00 \n");
writeString_P("################\n\n");
mSleep(2500);
setLEDs(0b111111); // Turn all LEDs on
mSleep(500); // delay 500ms
// Initialize the servo lib for use of only servo 1:
initSERVO(SERVO1);
startStopwatch2(); // Used for the demo
pos = 2; // Start with motor stopped
servo1_position = MOTOR_STOP;
while(true)
{
// ---------------------------------------------------------------------
// The demo code for positioning a drive controller (servo 1):
if (getStopwatch2() > 5000) { // Change position every ~5s
if (pos == 0) {
servo1_position = MOTOR_BACK_FULL;}
if (pos == 1) {
servo1_position = MOTOR_BACK_HALF;}
if (pos == 2) {
servo1_position = MOTOR_STOP;}
if (pos == 3) {
servo1_position = MOTOR_FORWARD_HALF;}
if (pos == 4) {
servo1_position = MOTOR_FORWARD_FULL;}
if (pos == 5) {
servo1_position = MOTOR_FORWARD_HALF;}
if (pos == 6) {
servo1_position = MOTOR_STOP;}
if (pos == 7) {
servo1_position = MOTOR_BACK_HALF;}
pos++;
if (pos > 7) {pos = 0;}
setStopwatch2(0);
}
// ---------------------------------------------------------------------
task_SERVO(); // The main servo task
task_RP6System();
}
return 0;
}
/******************************************************************************
* Additional info
* ****************************************************************************
* Changelog:
* - v. 1.0 (initial release) 08.03.2009 by Dirk
*
* ****************************************************************************
*/
/*****************************************************************************/
Die Änderungen für 2 Fahrtregler an ADC0/1 im Programm und in der Lib sind einfach und werden in der Lib beschrieben.
Die Demo steuert den Motor von Stop auf halbe Kraft vorwärts, volle Kraft vorwärts, wieder halbe Kraft, Stop, halbe Kraft rückwärts, volle Kraft rückwärts, usw. Jede Stellung wird 5 Sekunden gehalten.
Gruß Dirk
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