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ka und alte code wieder zurücl

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danielvici123
2024-12-03 09:21:41 +01:00
parent c810f9541d
commit 0ec0460b49
22 changed files with 2005 additions and 0 deletions
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125
INF/eingabe-dann-move/Freenove_4WD_Car_For_ESP32.cpp Normal file
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#include <Arduino.h>
#include "Freenove_4WD_Car_For_ESP32.h"
/////////////////////PCA9685 drive area///////////////////////////////////
#define PCA9685_SDA 13 //Define SDA pins
#define PCA9685_SCL 14 //Define SCL pins
#ifndef PCA9685_ADDRESS
#define PCA9685_ADDRESS 0x5F
#endif
#define SERVO_FREQUENCY 50 //Define the operating frequency of servo
#define PCA9685_CHANNEL_0 0 //Define PCA9685 channel to control servo 1
#define PCA9685_CHANNEL_1 1 //Define the PCA9685 channel to control servo 2
#define SERVO_MIDDLE_POINT 1500 //Define the middle position of the servo
#define MOTOR_SPEED_MIN -4095 //Define a minimum speed limit for wheels
#define MOTOR_SPEED_MAX 4095 //Define a maximum speed limit for wheels
#define PIN_MOTOR_M1_IN1 15 //Define the positive pole of M1
#define PIN_MOTOR_M1_IN2 14 //Define the negative pole of M1
#define PIN_MOTOR_M2_IN1 9 //Define the positive pole of M2
#define PIN_MOTOR_M2_IN2 8 //Define the negative pole of M2
#define PIN_MOTOR_M3_IN1 12 //Define the positive pole of M3
#define PIN_MOTOR_M3_IN2 13 //Define the negative pole of M3
#define PIN_MOTOR_M4_IN1 10 //Define the positive pole of M4
#define PIN_MOTOR_M4_IN2 11 //Define the negative pole of M4
PCA9685 pca9685; //Instantiate a PCA9685 object
//PCA9685 initialization
void PCA9685_Setup(void) {
Wire.begin(PCA9685_SDA, PCA9685_SCL);
Wire.beginTransmission(PCA9685_ADDRESS);
Wire.write(0x00);
Wire.write(0x00);
Wire.endTransmission();
pca9685.setupSingleDevice(Wire, PCA9685_ADDRESS);
pca9685.setToFrequency(SERVO_FREQUENCY);
}
//Set the rotation parameters of servo 1, and the parameters are 0-180 degrees
void Servo_1_Angle(float angle) {
angle = constrain(angle, 0, 180);
angle = map(angle, 0, 180, 102, 512);
pca9685.setChannelPulseWidth(PCA9685_CHANNEL_0, int(angle));
}
//Set the rotation parameters of servo 2, and the parameters are 0-180 degrees
void Servo_2_Angle(float angle) {
angle = constrain(angle, 0, 180);
angle = map(angle, 0, 180, 102, 512);
pca9685.setChannelPulseWidth(PCA9685_CHANNEL_1, int(angle));
}
//Servo sweep function
void Servo_Sweep(int servo_id, int angle_start, int angle_end) {
if (servo_id == 1) {
angle_start = constrain(angle_start, 0, 180);
angle_end = constrain(angle_end, 0, 180);
} else if (servo_id == 2) {
angle_start = constrain(angle_start, 90, 150);
angle_end = constrain(angle_end, 90, 150);
}
if (angle_start > angle_end) {
for (int i = angle_start; i >= angle_end; i--) {
if (servo_id == 1)
Servo_1_Angle(i);
else if (servo_id == 2)
Servo_2_Angle(i);
delay(10);
}
}
if (angle_start < angle_end) {
for (int i = angle_start; i <= angle_end; i++) {
if (servo_id == 1)
Servo_1_Angle(i);
else if (servo_id == 2)
Servo_2_Angle(i);
delay(10);
}
}
}
//A function to control the car motor
void Motor_Move(int m1_speed, int m2_speed, int m3_speed, int m4_speed) {
m1_speed = MOTOR_1_DIRECTION * constrain(m1_speed, MOTOR_SPEED_MIN, MOTOR_SPEED_MAX);
m2_speed = MOTOR_2_DIRECTION * constrain(m2_speed, MOTOR_SPEED_MIN, MOTOR_SPEED_MAX);
m3_speed = MOTOR_3_DIRECTION * constrain(m3_speed, MOTOR_SPEED_MIN, MOTOR_SPEED_MAX);
m4_speed = MOTOR_4_DIRECTION * constrain(m4_speed, MOTOR_SPEED_MIN, MOTOR_SPEED_MAX);
if (m1_speed >= 0) {
pca9685.setChannelPulseWidth(PIN_MOTOR_M1_IN1, m1_speed);
pca9685.setChannelPulseWidth(PIN_MOTOR_M1_IN2, 0);
} else {
m1_speed = -m1_speed;
pca9685.setChannelPulseWidth(PIN_MOTOR_M1_IN1, 0);
pca9685.setChannelPulseWidth(PIN_MOTOR_M1_IN2, m1_speed);
}
if (m2_speed >= 0) {
pca9685.setChannelPulseWidth(PIN_MOTOR_M2_IN1, m2_speed);
pca9685.setChannelPulseWidth(PIN_MOTOR_M2_IN2, 0);
} else {
m2_speed = -m2_speed;
pca9685.setChannelPulseWidth(PIN_MOTOR_M2_IN1, 0);
pca9685.setChannelPulseWidth(PIN_MOTOR_M2_IN2, m2_speed);
}
if (m3_speed >= 0) {
pca9685.setChannelPulseWidth(PIN_MOTOR_M3_IN1, m3_speed);
pca9685.setChannelPulseWidth(PIN_MOTOR_M3_IN2, 0);
} else {
m3_speed = -m3_speed;
pca9685.setChannelPulseWidth(PIN_MOTOR_M3_IN1, 0);
pca9685.setChannelPulseWidth(PIN_MOTOR_M3_IN2, m3_speed);
}
if (m4_speed >= 0) {
pca9685.setChannelPulseWidth(PIN_MOTOR_M4_IN1, m4_speed);
pca9685.setChannelPulseWidth(PIN_MOTOR_M4_IN2, 0);
} else {
m4_speed = -m4_speed;
pca9685.setChannelPulseWidth(PIN_MOTOR_M4_IN1, 0);
pca9685.setChannelPulseWidth(PIN_MOTOR_M4_IN2, m4_speed);
}
}

22
INF/eingabe-dann-move/Freenove_4WD_Car_For_ESP32.h Normal file
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#ifndef _FREENOVE_4WD_CAR_H
#define _FREENOVE_4WD_CAR_H
#include <Arduino.h>
#include <PCA9685.h>
#define MOTOR_1_DIRECTION 1 //If the direction is reversed, change 1 to -1
#define MOTOR_2_DIRECTION 1 //If the direction is reversed, change 1 to -1
#define MOTOR_3_DIRECTION 1 //If the direction is reversed, change 1 to -1
#define MOTOR_4_DIRECTION 1 //If the direction is reversed, change 1 to -1
void PCA9685_Close_Com_Address(void);//Close the PCA9685 public address
/////////////////////PCA9685 drive area//////////////////////////////////////
void PCA9685_Setup(void); //servo initialization
void Servo_1_Angle(float angle); //Set the rotation parameters of servo 1, and the parameters are 0-180 degrees
void Servo_2_Angle(float angle); //Set the rotation parameters of servo 2, and the parameters are 0-180 degrees
void Servo_Sweep(int servo_id, int angle_start, int angle_end);//Servo sweep function;
void Motor_Move(int m1_speed, int m2_speed, int m3_speed, int m4_speed);//A function to control the car motor
#endif

134
INF/eingabe-dann-move/eingabe-dann-move.ino Normal file
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#include "Freenove_4WD_Car_For_ESP32.h"
#include "BluetoothSerial.h"
#include <Arduino.h>
char eingabe;
BluetoothSerial SerialBT;
const int Trigger=12, Echo=15;
unsigned long Messwert;
int messungen[7];
int durchlauf = 0; // 3 5 7 9 11 13 15
unsigned long maxMesswert = 0;
int maxIndex = 0;
void setup() {
Serial.begin(115200);
SerialBT.begin("Daniels G Klasse");
PCA9685_Setup();
PCA9685_Setup(); // Initializes the chip that controls the motor
Servo_1_Angle(90); //Set servo 1 Angle
Servo_2_Angle(90); //Set servo 2 Angle
pinMode ( Trigger, OUTPUT );
pinMode ( Echo, INPUT );
delay(1000);
}
void loop() {
if (SerialBT.available() > 0) { // Überprüfen, ob Daten verfügbar sind
eingabe = SerialBT.read(); // Lese das eingehende Byte
switch (eingabe) { // Überprüfen der Eingabe
case 'w': moveForward(); break; // Vorwärts fahren
case 's': moveBackward(); break; // Rückwärts fahren
case 'd': turnRight(); break; // Nach rechts drehen
case 'a': turnLeft(); break; // Nach links drehen
case 'k': stop(); break; // Stoppen
}
}
for (int i = 0; i < 160; i += 30) {
delay(800);
Servo_1_Angle(i);
Serial.println(i); // Ausgab aktuellen Winkel
digitalWrite(Trigger, HIGH);
delayMicroseconds(10);
digitalWrite(Trigger, LOW);
Messwert = pulseIn(Echo, HIGH);
Serial.println("Abstand: ");
Serial.println(Messwert);
messungen[durchlauf] = Messwert;
durchlauf++;
for (int j = 0; j < 7; j++) {
if (messungen[j] > maxMesswert) {
maxMesswert = messungen[j];
maxIndex = j;
}
}
}
if (maxIndex == 0) {
Serial.println("Wert 0 Am Höchsten Fahre Rechts");
turnRight();
delay(1000);
stop();
}
else if (maxIndex == 1) {
Serial.println("Wert 1 Am Höchsten Fahre Rechts");
turnRight();
delay(1000);
stop();
}
else if (maxIndex == 2) {
Serial.println("Wert 2 Am Höchsten Fahre Vorne");
moveForward();
delay(1000);
stop();
}
else if (maxIndex == 3) {
Serial.println("Wert 3 Am Höchsten Fahre Vorne");
moveForward();
delay(1000);
stop();
}
else if (maxIndex == 4) {
Serial.println("Wert 4 Am Höchsten Fahre Vorne");
moveForward();
delay(1000);
stop();
}
else if (maxIndex == 5) {
Serial.println("Wert 5 Am Höchsten Fahre Links");
turnLeft();
delay(1000);
stop();
}
else if (maxIndex == 6) {
Serial.println("Wert 6 Am Höchsten Fahre Links");
turnLeft();
delay(1000);
stop();
}
}
void moveForward() {
Motor_Move(-2000, -2000, -2000, -2000);
}
void moveBackward() {
Motor_Move(2000, 2000, 2000, 2000);
}
void stop() {
Motor_Move(0, 0, 0, 0);
}
void turnRight() {
Motor_Move(2000, 2000, -2000, -2000);
delay(340);
Motor_Move(-2000, -2000, -2000, -2000);
}
void turnLeft() {
Motor_Move(-2000, -2000, 2000, 2000);
delay(340);
Motor_Move(-2000, -2000, -2000, -2000);
}