Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- hello_mbot_kalibrierung [2025/02/19 10:35] – [Quellcode (engl. Sourcecode)] torsten.roehl
+++ hello_mbot_kalibrierung [2025/02/19 19:55] (aktuell) – [Bedienung] torsten.roehl
@@ Zeile 97: / Zeile 97: @@
 ==== Quellcode (engl. Sourcecode) ====
-FIXME  Code noch nicht fertig!
 <Code c linenums:1 | Listing 1:MinimalesProgramm.ino>
 #include "MeMCore.h"
+// Hardware
+MeBuzzer buzzer;
 MeLineFollower lineFinder(PORT_2);
 MeRGBLed led(0, 2);   // must be fixed!
@@ Zeile 106: / Zeile 108: @@
 MeDCMotor motor2(M2);
 int PIN_BUTTON = 7;   // must be fixed!
 int threshold  = 500; // Analoger Schwellenwert!
 int buttonCount;
+// Allgemein
+int speed = 100; // Motor speed
 unsigned long time90degree;
-bool isTurning = false;
-unsigned long turnStartTime = 0;
+// turn90Degree...
-int speed = 250; // Motor speed
+bool t90d_isTurning = false;
+unsigned long t90d_turnStartTime = 0;
+// actionCalibration...
+unsigned long ac_turnStartTimeLeft  = 0;
+unsigned long ac_turnTimeLeft = 0;
+unsigned long ac_turnStartTimeRight = 0;
+unsigned long ac_turnTimeRight = 0;
+bool ac_isTurning = false;
+bool ac_isLeftTurning = false;
+bool ac_isRightTurning = false;
+bool ac_calibrationDone = false;
+//actionTest...
+bool at_doneLeft = false;
+bool at_doneRight = false;
+bool at_testComplete = false;
 enum State {
@@ Zeile 152: / Zeile 169: @@
 bool turn90Degree(bool left) {
+  // step: ...start turning
+  if (!t90d_isTurning) {
-  if (!isTurning) {
-    turnStartTime = millis();
-    isTurning = true;
-    if (left) {
-      motor1.run(speed);
-      motor2.run(speed);
-    } else {
-      motor1.run(-speed);
-      motor2.run(-speed);
-    }
-  }
-  if (isTurning && millis() - turnStartTime >= time90degree) {
     motor1.stop();
     motor2.stop();
-    isTurning = false;
+    t90d_isTurning     = true;
-    return true;
+    int dir = left ? 1 : -1;
+    motor1.run(dir * speed);
+    motor2.run(dir * speed);
+    t90d_turnStartTime = millis();
+    return false;
   }
+  // step: ...in progress
+  if (millis() - t90d_turnStartTime < time90degree)
+    return false;
-  return false;
+  // step: ... finished
+  motor1.stop();
+  motor2.stop();
+  t90d_isTurning = false;
+  return true;
 }
@@ Zeile 213: / Zeile 229: @@
 void actionCalibration() {
+  if (ac_calibrationDone)
+    return;
   led.setColorAt(1, 255, 0, 0);
   led.setColorAt(0, 255, 0, 0);
   led.show();
-  // TODO non-blocking
+  int sensorState = lineFinder.readSensors();
+  // step - start turning left
+  if (!ac_isTurning) {
+    motor1.stop();
+    motor2.stop();
+    motor1.run(speed);
+    motor2.run(speed);
+    ac_turnStartTimeLeft = millis();
+    ac_isTurning = true;
+    ac_isRightTurning = true;
+    do {
+      sensorState = lineFinder.readSensors();
+    } while ( sensorState != S1_OUT_S2_OUT);
+  }
+  // step - end turning left ... start turning right
+  if (ac_isRightTurning && sensorState == S1_IN_S2_IN) {
+    motor1.stop();
+    motor2.stop();
+    ac_turnTimeLeft = millis() - ac_turnStartTimeLeft;
+    motor1.run(-speed);
+    motor2.run(-speed);
+    ac_turnStartTimeRight = millis();
+    do {
+      sensorState = lineFinder.readSensors();
+    } while ( sensorState != S1_OUT_S2_OUT);
+    ac_isRightTurning = false;
+    ac_isLeftTurning = true;
+  }
+  // step - end turing right
+  if (ac_isLeftTurning && sensorState == S1_IN_S2_IN) {
+    motor1.stop();
+    motor2.stop();
+    ac_turnTimeRight = millis() - ac_turnStartTimeRight;
+    time90degree = (ac_turnTimeLeft + ac_turnTimeRight) / 2.0;
+    ac_calibrationDone = true;
+    led.setColorAt(1, 0, 0, 0);
+    led.setColorAt(0, 0, 0, 0);
+    led.show();
+    buzzer.tone(1200, 600);
+  }
 }
 void actionTest() {
-  led.setColorAt(1, 0, 255, 0);
-  led.setColorAt(0, 0, 255, 0);
-  led.show();
-  static bool doneLeft = false;
+  if (!at_doneLeft) { // Links-Drehung
-  static bool doneRight = false;
+    at_doneLeft = turn90Degree(true);
+    led.setColorAt(1, 0, 255, 0);
+    led.setColorAt(0, 0, 255, 0);
+    led.show();
+    return;
+  }
-  if (!doneLeft) {
+  if (!at_doneRight) { // Rechts-Drehung
-    doneLeft = turn90Degree(true);
+    at_doneRight = turn90Degree(false);
+    return;
   }
-  else if (doneLeft && !doneRight) {
-    doneRight = turn90Degree(false);
+  if (!at_testComplete) { // fertig
-  }
+    motor1.stop();
-  else if (doneLeft && doneRight) {
+    motor2.stop();
-    state = STATE_OFF;
+    led.setColorAt(1, 0, 0, 0);
+    led.setColorAt(0, 0, 0, 0);
+    led.show();
+    buzzer.tone(1200, 600);
+    at_testComplete = true;
+    return;
   }
 }
@@ Zeile 243: / Zeile 313: @@
   led.setColorAt(0, 0, 0, 0);
   led.show();
+  // reset
   motor1.stop();
   motor2.stop();
-}
+  // reset state calibration
+  ac_isTurning = false;
+  ac_isLeftTurning = false;
+  ac_isRightTurning = false;
+  ac_calibrationDone = false;
+  // reset state test
+  at_doneLeft = false;
+  at_doneRight = false;
+  at_testComplete = false;
+}
 </Code>
 ==== Bedienung ====
@@ Zeile 262: / Zeile 345: @@
 ⚡ **Schritt 3:**
-▶ **Nach dem Testlauf** kehrt der mBot in den **Ruhezustand** zurück.
+▶ **Nach dem Testlauf** kehrt der mBot durch Drückens des Tasters in den **Ruhezustand** zurück.
    * Der Vorgang kann **von vorne** gestartet werden.