Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- hello_mbot_kalibrierung [2025/02/19 16:05] – [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"
@@ Zeile 112: / Zeile 112: @@
 // Allgemein
 int speed = 100; // Motor speed
-unsigned long time90degree = 20; // wird überschrieben!
+unsigned long time90degree;
-// turn90Degree
+// turn90Degree...
 bool t90d_isTurning = false;
 unsigned long t90d_turnStartTime = 0;
-//actionCalibration...
+// actionCalibration...
 unsigned long ac_turnStartTimeLeft  = 0;
 unsigned long ac_turnTimeLeft = 0;
 unsigned long ac_turnStartTimeRight = 0;
 unsigned long ac_turnTimeRight = 0;
-static bool ac_isTurning = false;
+bool ac_isTurning = false;
-static bool ac_isLeftTurning = false;
+bool ac_isLeftTurning = false;
-static bool ac_isRightTurning = false;
+bool ac_isRightTurning = false;
-static bool ac_calibrationDone = false;
+bool ac_calibrationDone = false;
 //actionTest...
-static bool at_doneLeft = false;
+bool at_doneLeft = false;
-static bool at_doneRight = false;
+bool at_doneRight = false;
-static bool at_testComplete = false;
+bool at_testComplete = false;
 enum State {
@@ Zeile 168: / Zeile 169: @@
 bool turn90Degree(bool left) {
+  // step: ...start turning
   if (!t90d_isTurning) {
     motor1.stop();
     motor2.stop();
     t90d_isTurning     = true;
-    int dir           = 1;
+    int dir = left ? 1 : -1;
-    if (!left)
-      dir = -1;
     motor1.run(dir * speed);
     motor2.run(dir * speed);
     t90d_turnStartTime = millis();
+    return false;
   }
+  // step: ...in progress
+  if (millis() - t90d_turnStartTime < time90degree)
+    return false;
-  if (t90d_isTurning && millis() - t90d_turnStartTime >= time90degree) {
+  // step: ... finished
-    motor1.stop();
+  motor1.stop();
-    motor2.stop();
+  motor2.stop();
-    t90d_isTurning = false;
+  t90d_isTurning = false;
-    return true;
-  }
-  return false;
+  return true;
 }
@@ Zeile 227: / Zeile 230: @@
 void actionCalibration() {
-  if (!ac_calibrationDone) {
+  if (ac_calibrationDone)
-    led.setColorAt(1, 255, 0, 0);
+    return;
-    led.setColorAt(0, 255, 0, 0);
-    led.show();
-    int sensorState = lineFinder.readSensors();
-    // step - start turning left
+  led.setColorAt(1, 255, 0, 0);
-    if (!ac_isTurning) {
+  led.setColorAt(0, 255, 0, 0);
-      motor1.stop();
+  led.show();
-      motor2.stop();
+  int sensorState = lineFinder.readSensors();
-      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
+  // step - start turning left
-    if (ac_isRightTurning && sensorState == S1_IN_S2_IN) {
+  if (!ac_isTurning) {
-      motor1.stop();
+    motor1.stop();
-      motor2.stop();
+    motor2.stop();
-      ac_turnTimeLeft = millis() - ac_turnStartTimeLeft;
+    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);
+  }
-      motor1.run(-speed);
+  // step - end turning left ... start turning right
-      motor2.run(-speed);
+  if (ac_isRightTurning && sensorState == S1_IN_S2_IN) {
-      ac_turnStartTimeRight = millis();
+    motor1.stop();
-      do {
+    motor2.stop();
-        sensorState = lineFinder.readSensors();
+    ac_turnTimeLeft = millis() - ac_turnStartTimeLeft;
-      } while ( sensorState != S1_OUT_S2_OUT);
-      ac_isRightTurning = false;
-      ac_isLeftTurning = true;
-    }
-    // step - end turing right
+    motor1.run(-speed);
-    if (ac_isLeftTurning && sensorState == S1_IN_S2_IN) {
+    motor2.run(-speed);
-      motor1.stop();
+    ac_turnStartTimeRight = millis();
-      motor2.stop();
+    do {
-      ac_turnTimeRight = millis() - ac_turnStartTimeRight;
+      sensorState = lineFinder.readSensors();
-      time90degree = (ac_turnTimeLeft + ac_turnTimeRight) / 2.0;
+    } while ( sensorState != S1_OUT_S2_OUT);
-      ac_calibrationDone = true;
+    ac_isRightTurning = false;
-      led.setColorAt(1, 0, 0, 0);
+    ac_isLeftTurning = true;
-      led.setColorAt(0, 0, 0, 0);
-      led.show();
-      buzzer.tone(1200, 600);
-    }
   }
+  // 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() {
-  if (!at_doneLeft) {
+  if (!at_doneLeft) { // Links-Drehung
     at_doneLeft = turn90Degree(true);
     led.setColorAt(1, 0, 255, 0);
     led.setColorAt(0, 0, 255, 0);
     led.show();
+    return;
   }
-  else if (at_doneLeft && !at_doneRight) {
+  if (!at_doneRight) { // Rechts-Drehung
     at_doneRight = turn90Degree(false);
+    return;
   }
-  else if (at_doneLeft && at_doneRight && !at_testComplete) {
+  if (!at_testComplete) { // fertig
     motor1.stop();
     motor2.stop();
@@ Zeile 297: / Zeile 305: @@
     buzzer.tone(1200, 600);
     at_testComplete = true;
+    return;
   }
 }
@@ Zeile 319: / Zeile 328: @@
   at_doneRight = false;
   at_testComplete = false;
 }
 </Code>
@@ Zeile 337: / 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.