RP6 -- Ein Motor rückwärts?

Hallo

kann man ein Motor vorwärts und eine rückwärts laufen lassen, aber mit bestimmter Geschwindigkeit. Also z.B. moveAtSpeed(80, -90) ??


mfG
Philip ;)

Hallo

So vielleicht:

Code:

---

// Die Drehrichtungen werden in RP6RobotBaseLib.h definiert:

// Direction:
// #define FWD 0
// #define BWD 1
// #define LEFT 2
// #define RIGHT 3

// moveAtSpeed() mit Drehrichtungsangabe als dritter Parameter

void moveAtSpeed2(uint8_t desired_speed_left, uint8_t desired_speed_right, uint8_t dir)
{
        moveAtSpeed(desired_speed_left, desired_speed_right);
        changeDirection(dir);
}

// rotoate() mit zwei unterschiedlichen Geschwindigkeiten (mit Weganpassung der Seiten)

void rotate2(uint8_t desired_speed_left, uint8_t desired_speed_right, uint8_t dir, uint16_t angle, uint8_t blocking)
{
        uint16_t distance, distance_left, distanceright;

        motion_status.move_L = true;
        motion_status.move_R = true;
        distance = (uint16_t) (((uint32_t)(ROTATION_FACTOR) * (uint16_t)angle)/100);
       
        distance += distance; // Gesamtweg verteilen
        distance_left = distance * desired_speed_left / (desired_speed_left + desired_speed_right);
        distance_right = distance - distance_left;
       
        preDecelerate_L = distance_left - 100;
        preDecelerate_R = distance_right - 100;
        preStop_L = distance_left;
        preStop_R = distance_right;
        if(distance_left < 40) {
                distance_left = 40;
                preStop_L = 20;
                preDecelerate_L = 10;
        }
        if(distance_right < 40) {
                distance_right = 40;
                preStop_R = 20;
                preDecelerate_R = 10;
        }
        moveAtSpeed(desired_speed_left, desired_speed_right);
        changeDirection(dir);

  mleft_dist = 0;
        mright_dist = 0;
        distanceToMove_L = distance_left;
        distanceToMove_R = distance_right;

        motion_status_tmp = motion_status.byte;
        MOTIONCONTROL_stateChangedHandler();
        if(blocking)
                while(!isMovementComplete())
                        task_RP6System();
}

---

(ungetestet, Basis der Funktionen aus der RP6-Library)


Gruß

mic

hm.... der Compiler mekert das viele Variablen undeclared sind. Geht es auch so: moveAtSpeed3(speed_links, speed_rechts, dir_links, dir_rechts); ???

Hallo

uint16_t distance, distance_left, distanceright;

Hier fehlt der Unterstrich in distanceright.

Bringt moveAtSpeed3() einen Vorteil? Es gibt doch nur vier Kombinationen.

Code:

---

// Richtung: 0 = Vorwärts, 1 = Rückwärts
moveAtSpeed3(uint8_t desired_speed_left, uint8_t desired_speed_right, uint8_t dir_left, uint8_t dir_right)
{
        moveAtSpeed(desired_speed_left, desired_speed_right);
        setMotorDir(uint8_t dir_left, uint8_t dir_right); // Kommentar in der Lib beachten!
}

---

Gruß

mic

das mit setMotorDir ist genau das was ich gesucht hab, aber:

undefined reference to `setMotorDir'

Möglicherweise wurde die Funktion rausgeschmissen:

Code:

---

/**
 * Sets the rotation direction of both motors.
 *
 * DO NOT CHANGE THE DIRECTION OF THE MOTORS WHILE THEY
 * ARE RUNNING AT HIGH SPEEDS!!!
 * It will not instantly damage the motors/gears, but they will 
 * wear out much faster if you do it at high speeds - better wait
 * until speed has slowed down - and change direction AFTER this.
 *
 * -------------------------------------------------------------
 * IT IS A BETTER IDEA NOT TO USE THIS FUNCTION AT ALL!
 * Use moveAtSpeed together with task_motionControl instead.
 * YOU CAN NOT USE setMotorPower AND setMotorDir WHEN YOU USE
 * task_motionControl!  This will not work!
 * -------------------------------------------------------------
 *
 * task_motionControl also ensures that the direction is changed
 * slowly and only after the motors have stopped!
 *
 * Example:
 *          // DO NOT perform these commands directly after each
 *                        // other in your programs - this is just a LIST of possible
 *                        // combinations:
 *                        setMotorDir(FWD,FWD); // Move forwards
 *                        setMotorDir(BWD,FWD); // Rotate right
 *                        setMotorDir(FWD,BWD); // Rotate left
 *                        setMotorDir(BWD,BWD); // Move backwards
 *
 */
void setMotorDir(uint8_t left_dir, uint8_t right_dir)
{
        mleft_dir = left_dir;
        mright_dir = right_dir;
        mleft_des_dir = left_dir;
        mright_des_dir = right_dir;
        if(left_dir)
                PORTC |= DIR_L;
        else
                PORTC &= ~DIR_L;
        if(right_dir)
                PORTC |= DIR_R;
        else
                PORTC &= ~DIR_R;
}

---

Der Compiler meckert:

PC.c:24: error: 'DIR_R' undeclared (first use in this function)
PC.c:20: error: 'DIR_L' undeclared (first use in this function)
PC.c:18: error: 'mright_des_dir' undeclared (first use in this function)
PC.c:17: error: 'mleft_des_dir' undeclared (first use in this function)
PC.c:16: error: 'mright_dir' undeclared (first use in this function)
PC.c:15: error: 'mleft_dir' undeclared (first use in this function)

ich benutze die M32.

Irgendwie klemmt's heute extrem. Bindest du die Library ein?

#include "RP6RobotBaseLib.h"

In task_motionControl() wird bei Stillstand die Richtung ausgewählt:

Code:

---

                                if(!TCCR1A) // Is the PWM module turned off?
                                {                        // Yes, change direction and restore old speed:
                                        setMotorDir(mleft_des_dir,mright_des_dir);
                                        mleft_des_speed = mleft_des_speed_tmp;
                                        mright_des_speed = mright_des_speed_tmp;
                                        left_i = 0;
                                        right_i = 0;
                                }

---

"ich benutze die M32." Aua

Zitat:

---

Zitat von radbruch

Bindest du die Library ein?

#include "RP6RobotBaseLib.h"

---

Ich habe folgende eingebunden:

Code:

---

#include "RP6ControlLib.h"
#include "RP6ControlServoLib.h"
#include "RP6uart.h"
#include "RP6I2CmasterTWI.h"   
#include "RP6Control_I2CMasterLib.h"

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