Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- hello_mbot_kalibrierung [2025/02/19 13:34] – 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 108: / Zeile 110: @@
 int threshold  = 500; // Analoger Schwellenwert!
 int buttonCount;
+// Allgemein
+int speed = 100; // Motor speed
 unsigned long time90degree;
-bool isTurning = false;
-int speed = 250; // Motor speed
+// turn90Degree...
-unsigned long turnStartTime = 0;
+bool t90d_isTurning = false;
-unsigned long turnTime = 0;
+unsigned long t90d_turnStartTime = 0;
-unsigned long backTurnStartTime = 0;
+// actionCalibration...
-unsigned long backTurnTime = 0;
+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 155: / Zeile 169: @@
 bool turn90Degree(bool left) {
-  if (!isTurning) {
+  // step: ...start turning
-    turnStartTime = millis();
+  if (!t90d_isTurning) {
-    isTurning     = true;
-    dir           = 1;
-    if(!left)
-        dir = -1;
-    motor1.run(dir*speed);
-    motor2.run(dir*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 212: / Zeile 229: @@
 void actionCalibration() {
+  if (ac_calibrationDone)
+    return;
   led.setColorAt(1, 255, 0, 0);
   led.setColorAt(0, 255, 0, 0);
   led.show();
+  int sensorState = lineFinder.readSensors();
-  static bool isTurning = false;
+  // step - start turning left
-  static bool isBackTurning = false;
+  if (!ac_isTurning) {
-  static bool calibrationDone = false;
+    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);
+  }
-  if (!calibrationDone) {
+  // step - end turning left ... start turning right
-    int sensorState = lineFinder.readSensors();
+  if (ac_isRightTurning && sensorState == S1_IN_S2_IN) {
+    motor1.stop();
+    motor2.stop();
+    ac_turnTimeLeft = millis() - ac_turnStartTimeLeft;
-    // step - start turning
+    motor1.run(-speed);
-    if (!isTurning) {
+    motor2.run(-speed);
-      motor1.run(speed);
+    ac_turnStartTimeRight = millis();
-      motor2.run(speed);
+    do {
-      turnStartTime = millis();
+      sensorState = lineFinder.readSensors();
-      isTurning = true;
+    } while ( sensorState != S1_OUT_S2_OUT);
-      do {
+    ac_isRightTurning = false;
-          int sensorState = lineFinder.readSensors();
+    ac_isLeftTurning = true;
-      } while ( sensorState != S1_OUT_S2_OUT);
-    }
-    // step - end left turn
-    if (sensorState == S1_IN_S2_IN) {
-     motor1.run(-speed);
-     motor2.run(-speed);
-     // todo
-      do {
-          int sensorState = lineFinder.readSensors();
-      } while ( sensorState != S1_OUT_S2_OUT);
-    }
-    // step - end right turn
-    if (isBackTurning && sensorState == S1_IN_S2_IN) {
-       motor1.stop();
-       motor2.stop();
-       // todo
-    }
   }
+  // 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 277: / 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 296: / 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.