Hi mic,
du hast Recht, die Bee fährt nun viel besser.
Nur der Parkettboden ist bei mir zu rutschig, hier muss ich mir noch überlegen wie ich den Reifen mehr Grip geben kann.
Noch mein angepasster Code:
Code:
'Verwendeter Compiler Bascom V 1.11.9.3
'
'Aufgabe:
'Abstandsmessung mit IR-LEDs 2xlinks, 2x rechts
'und Werte auf DODM 3x16 LCD ausgeben
'Autor: Pinsel120866
'###################################################
Declare Sub Motorpwm(byval Pwm_l As Byte , Byval Pwm_r As Byte) 'Pwm für Motoren setzen (0-255)
Declare Sub Motordir(byval Dir_l As Byte , Byval Dir_r As Byte) 'Drehrichtungen der Motoren setzen (1/0)
Declare Sub Setleds(byval Leds As Byte) 'Leds als Bitmuster setzen &B000xxxx
Declare Function Getkeys() As Byte 'Bitmuster der Tasten einlesen &B0000xxxx
Declare Sub Odo_reset ' Odometryzähler auf null setzen
Declare Sub Sleep(byval Pause As Byte) 'Pause 1/36000 Sekunde warten
Declare Sub Msleep(byval Pause As Word) 'Pause 1/1000 Sekunde warten
Declare Sub Acs ' acs_left und acs_right aktuallisieren
$regfile = "m16def.dat"
$crystal = 15000000
$hwstack = 48 ' kleiner 48 ergibt Stapelüberlauf!
$swstack = 8
$framesize = 24
$baud = 19200
Acs_led_left Alias Porta.1 'acs Anoden
Acs_led_right Alias Porta.0
Acs_led_36khz Alias Porta.3 ' Kathode mit Widerstand
Acs_tsop Alias Pina.2 'Eingang!
Led0 Alias Portb.0
Led1 Alias Portb.1
Led2 Alias Portb.2
Led3 Alias Portb.3
Lineled Alias Portb.4
$lib "Lcd_i2c_DOGM.lib" 'I2c driver for the LCD
Config I2cdelay = 1
Const Pcf8574_lcd = &H4E 'Defines the address of the I/O expander for LCD
Config Scl = Portc.0 'Configure I2C SCL
Config Sda = Portc.1 'Configure I2C SDA
Config Led0 = Output ' LEDs 0-3
Config Led1 = Output
Config Led2 = Output
Config Led3 = Output
Config Lineled = Output ' Lineled
Config Acs_led_left = Output 'acs
Config Acs_led_right = Output
Config Acs_led_36khz = Output
Config Acs_tsop = Input
Config Portc.4 = Input ' keys
Config Portc.5 = Input
Config Portc.6 = Input
Config Portc.7 = Input
Portc = &B11110000 'Tasten-PullUp Bit 4-7 einschalten
Config Portd.2 = Input ' odo_l int0
Config Portd.3 = Input ' odo_r int1
Config Portd.4 = Output ' pmw_r
Config Portd.5 = Output ' pwm_l
Config Portd.6 = Output ' dir_l
Config Portd.7 = Output ' dir_r
'Config Com1 = Dummy , Synchrone = 0 , Parity = None , Stopbits = 1 , Databits = 8 , Clockpol = 0
Config Timer1 = Pwm , Pwm = 10 , Compare A Pwm = Clear Up , Compare B Pwm = Clear Up , Prescale = 1
Config Timer2 = Pwm , Compare Pwm = Disconnect , Prescale = 1 'gemessene 36kHz!
Ocr2 = 151 '36kHz mit Puls:Pause 50:50
Tcnt2 = 99 'Frequenzkorrektur beim Start
Config Adc = Single , Prescaler = 64 , Reference = Avcc ' 235 kHz
Config Int0 = Change
Config Int1 = Change
Dim B As Byte , W As Word
Dim Odo_count_l As Word , Odo_count_r As Word
Dim Count36khz As Byte
Dim Acs_left As Byte , Acs_right As Byte
Dim Acs_count As Byte
Dim _lcd_e As Byte 'Needed to control 4 line LCD
Config Lcd = 16 * 3 , Chipset = Dogm163v5 '16*3 type LCD display 5V
I2cstart
Start Adc
On Oc2 Isr_timer2_comp
On Ovf2 Isr_timer2_ovl
On Int0 Isr_int0
On Int1 Isr_int1
Enable Oc2
Enable Ovf2
Enable Int0
Enable Int1
Enable Interrupts
_lcd_e = 128 'Upper half of 4-line display is selected
Cls 'clear the LCD display
Lcd "Pinsel's NIBOBee" 'display this at the top line
Call Msleep(1)
Lowerline 'select the lower line
Lcd "Abstandsmessung mit 2x2 IR-LEDs"
Call Msleep(1) 'display this at the lower line
_lcd_e = 64 'Lower half of 4-line display is selected
Lcd "nix"
Call Msleep(1)
Lowerline
Lcd "nix"
Call Msleep(1500)
Do
Call Acs
Reset Led0
Reset Led1
Reset Led2
Reset Led3
Call Motordir(1 , 1)
Call Motorpwm(197 , 197)
If Acs_left > 251 And Acs_right > 251 Then
_lcd_e = 128
Cls
Lcd "" 'display this at the top line
Call Msleep(1)
Lowerline 'select the lower line
Lcd "Abstand li: " ; Acs_left ; " Abstand re: " ; Acs_right ; 'Wert ausgeben auf Display
Set Led1
Call Motordir(1 , 0)
Call Motorpwm(0 , 0)
Call Msleep(300)
Call Motorpwm(77 , 77)
Call Msleep(700)
End If
If Acs_left > 251 Then
_lcd_e = 128
Cls
Lcd "" 'display this at the top line
Call Msleep(1)
Lowerline 'select the lower line
Lcd "Abstand li: " ; Acs_left ; " Abstand re: " ; Acs_right ; 'Wert ausgeben auf Display
Set Led1
Call Motordir(1 , 1)
Call Motorpwm(0 , 0)
Call Msleep(300)
Call Motorpwm(77 , 0)
Call Msleep(700)
End If
If Acs_right > 251 Then
_lcd_e = 128
Cls
Lcd "" 'display this at the top line
Call Msleep(1)
Lowerline 'select the lower line
Lcd "Abstand li: " ; Acs_left ; " Abstand re: " ; Acs_right ; 'Wert ausgeben auf Display
Set Led2
Call Motordir(1 , 1)
Call Motorpwm(0 , 0)
Call Msleep(300)
Call Motorpwm(0 , 77)
Call Msleep(700)
End If
Loop
End
Sub Acs
Ocr2 = 253
Set Acs_led_left
While Acs_tsop = 1 And Ocr2 > 151
Acs_count = 8
While Acs_count > 0
Wend
Ocr2 = Ocr2 - 1
Wend
Reset Acs_led_left
Acs_left = Ocr2
While Acs_tsop = 0
Wend
Ocr2 = 253
Set Acs_led_right
While Acs_tsop = 1 And Ocr2 > 151
Acs_count = 8
While Acs_count > 0
Wend
Ocr2 = Ocr2 - 1
Wend
Reset Acs_led_right
Acs_right = Ocr2
While Acs_tsop = 0
Wend
End Sub
Sub Motorpwm(byval Pwm_l As Byte , Byval Pwm_r As Byte)
Pwm1a = Pwm_l * 4
Pwm1b = Pwm_r * 4
End Sub
Sub Motordir(byval Dir_l As Byte , Byval Dir_r As Byte)
If Dir_l = 0 Then Portd.6 = 0 Else Portd.6 = 1
If Dir_r = 0 Then Portd.7 = 1 Else Portd.7 = 0
End Sub
Function Getkeys() As Byte
Getkeys = Pinc / 16 ' Pins einlesen und nach rechts schieben
Getkeys = Getkeys Xor 255 ' invertieren
Getkeys = Getkeys And 15 ' Bit4-7 ausblenden
End Function
Sub Odo_reset
Disable Interrupts
Odo_count_l = 0
Odo_count_r = 0
Enable Interrupts
End Sub
Sub Sleep(byval Pause As Byte)
Count36khz = Pause
While Count36khz > 0
Wend
End Sub
Sub Msleep(byval Pause As Word)
While Pause > 0
Call Sleep(36)
Decr Pause
Wend
End Sub
Isr_int0:
Incr Odo_count_l
Led0 = Pind.2
Return
Isr_int1:
Incr Odo_count_r
Led3 = Pind.3
Return
Isr_timer2_comp:
Toggle Acs_led_36khz
Return
Isr_timer2_ovl:
Tcnt2 = Tcnt2 + 99 'Frequenzkorrektur 36kHz
Reset Acs_led_36khz
If Count36khz > 0 Then Decr Count36khz
If Acs_count > 0 Then Decr Acs_count
Return
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