per TV-remote ein "move" programmablauf auslösen..

[carlitoco]

Also nun mal wieder ein bischen Zeit für den RP6 und ich dachte mir ...
Mein fahr programm ist ja ganz nett aber das ganze per Tv-remote auszulösen bzw. aktiv in das programm eingreifen zu können wäre doch schon cooler, dann hätte man einen roboter, der an sich schon mal "autark" nirgenwo gegen fährt, man selbst ihn jedoch zielgerichtet gegen eine Wand fahren könnte. Ok ! spaß beiseite, aber verstanden habt ihr hoffentlich was ich grundsätzlich meine oder ?

1. Ich nehme mir das standart TV-Remote programm, und führe ein

#define RC5_KEY_PROG1 24 //24 ist der tastenkey
hinzu soweit so gut ... wie löse ich jetzt das ganze aus?
etwa so?:


if (rc5data.key_code)
{und dann standart move programm
}
das wäre glaube ich recht "plump" aber könnte als erster versuch funktionieren oder ?

danke für jede hilfe carlitoco[/code]

[Dirk]

Ja, so könnte es klappen:

// Check which key is pressed:
switch(rc5data.key_code)
{
case RC5_KEY_PROG1: // Hier kommt dein Move-Programmteil:
break;
case RC5_KEY_LEFT:
// Hier die anderen TV Tasten:

Gruß Dirk

[Pr0gm4n]

Klingt ja einfach, aber nun folgendes, ich hab all meine Fernbedienungen getestet (selftest) aber keine iss angesprungen...

Jetzt bin ich eh grad in nem grösseren Projekt, das jetz erstmal in viele viele viele Teilprojekte zerlegt wird, dabei auch z.B. Joysticksteuerungen:

jetzt meine Idee: Ich lese den Joystick mit einem µC aus (ADCs am Poti) und sende dann die Daten per Infrarot an den RP6, geht das?

Wenn ja, dann bräuchte ich noch eine IR-Sendediode, kann mir da jemand eine empfehlen oder sagen, wie ich das dann dem µC einproggen kann?


Wenn das klappt kann ich ja mal bei nem Freund schaun, ob ich bei ihm mit nem Joystick dann den Kanal wechseln kann^^


MfG Pr0gm4n

PS: ich muss dann vermutlich mehrere Ir-Sende-Dioden anbringen, oder?

[carlitoco]

ok da bin jetzt am rumschrauben an dem Programm ... angenommen ich möchte ein komplexes fahrprogramm auf den tastaturcode "24" legen. Wird das sicher koplizierter oder ?
das fahrprogramm ist vergleichbar mit BaseExample05


/************************************************** ***************************/

// Includes:



#include "RP6RobotBaseLib.h"



/************************************************** ***************************/

// Behaviour command type:



#define IDLE 0



// The behaviour command data type:

typedef struct {

uint8_t speed_left; // left speed (is used for rotation and

// move distance commands - if these commands are

// active, speed_right is ignored!)

uint8_t speed_right; // right speed

unsigned dir:2; // direction (FWD, BWD, LEFT, RIGHT)

unsigned move:1; // move flag

unsigned rotate:1; // rotate flag

uint16_t move_value; // move value is used for distance and angle values

uint8_t state; // state of the behaviour

} behaviour_command_t;



behaviour_command_t STOP = {0, 0, FWD, false, false, 0, IDLE};



/************************************************** ***************************/

// Cruise Behaviour:



#define CRUISE_SPEED_FWD 60 // Default speed when no obstacles are detected!



#define MOVE_FORWARDS 1

behaviour_command_t cruise = {CRUISE_SPEED_FWD, CRUISE_SPEED_FWD, FWD,

false, false, 0, MOVE_FORWARDS};



/**

* We don't have anything to do here - this behaviour has only

* a constant value for moving forwards - s. above!

* Of course you can change this and add some random or timed movements

* in here...

*/

void behaviour_cruise(void)

{

}



/************************************************** ***************************/

// Escape Behaviour:



#define ESCAPE_SPEED_BWD 80

#define ESCAPE_SPEED_ROTATE 50



#define ESCAPE_FRONT 1

#define ESCAPE_FRONT_WAIT 2

#define ESCAPE_LEFT 3

#define ESCAPE_LEFT_WAIT 4

#define ESCAPE_RIGHT 5

#define ESCAPE_RIGHT_WAIT 6

#define ESCAPE_WAIT_END 7

behaviour_command_t escape = {0, 0, FWD, false, false, 0, IDLE};



/**

* This is the Escape behaviour for the Bumpers.

*/

void behaviour_escape(void)

{

static uint8_t bump_count = 0;



switch(escape.state)

{

case IDLE:

break;

case ESCAPE_FRONT:

escape.speed_left = ESCAPE_SPEED_BWD;

escape.dir = BWD;

escape.move = true;

if(bump_count > 3)

escape.move_value = 220;

else

escape.move_value = 160;

escape.state = ESCAPE_FRONT_WAIT;

bump_count+=2;

break;

case ESCAPE_FRONT_WAIT:

if(!escape.move) // Wait for movement to be completed

{

escape.speed_left = ESCAPE_SPEED_ROTATE;

if(bump_count > 3)

{

escape.move_value = 100;

escape.dir = RIGHT;

bump_count = 0;

}

else

{

escape.dir = LEFT;

escape.move_value = 70;

}

escape.rotate = true;

escape.state = ESCAPE_WAIT_END;

}

break;

case ESCAPE_LEFT:

escape.speed_left = ESCAPE_SPEED_BWD;

escape.dir = BWD;

escape.move = true;

if(bump_count > 3)

escape.move_value = 190;

else

escape.move_value = 150;

escape.state = ESCAPE_LEFT_WAIT;

bump_count++;

break;

case ESCAPE_LEFT_WAIT:

if(!escape.move) // Wait for movement to be completed

{

escape.speed_left = ESCAPE_SPEED_ROTATE;

escape.dir = RIGHT;

escape.rotate = true;

if(bump_count > 3)

{

escape.move_value = 110;

bump_count = 0;

}

else

escape.move_value = 80;

escape.state = ESCAPE_WAIT_END;

}

break;

case ESCAPE_RIGHT:

escape.speed_left = ESCAPE_SPEED_BWD;

escape.dir = BWD;

escape.move = true;

if(bump_count > 3)

escape.move_value = 190;

else

escape.move_value = 150;

escape.state = ESCAPE_RIGHT_WAIT;

bump_count++;

break;

case ESCAPE_RIGHT_WAIT:

if(!escape.move) // Wait for movement to be completed

{

escape.speed_left = ESCAPE_SPEED_ROTATE;

escape.dir = LEFT;

escape.rotate = true;

if(bump_count > 3)

{

escape.move_value = 110;

bump_count = 0;

}

else

escape.move_value = 80;

escape.state = ESCAPE_WAIT_END;

}

break;

case ESCAPE_WAIT_END:

if(!(escape.move || escape.rotate)) // Wait for movement/rotation to be completed

escape.state = IDLE;

break;

}

}



/**

* Bumpers Event handler

*/

void bumpersStateChanged(void)

{

if(bumper_left && bumper_right) // Both Bumpers were hit

{

escape.state = ESCAPE_FRONT;

}

else if(bumper_left) // Left Bumper was hit

{

if(escape.state != ESCAPE_FRONT_WAIT)

escape.state = ESCAPE_LEFT;

}

else if(bumper_right) // Right Bumper was hit

{

if(escape.state != ESCAPE_FRONT_WAIT)

escape.state = ESCAPE_RIGHT;

}

}



/************************************************** ***************************/

// The new Avoid Behaviour:



// Some speed values for different movements:

#define AVOID_SPEED_L_ARC_LEFT 20

#define AVOID_SPEED_L_ARC_RIGHT 65

#define AVOID_SPEED_R_ARC_LEFT 65

#define AVOID_SPEED_R_ARC_RIGHT 20

#define AVOID_SPEED_ROTATE 50



// States for the Avoid FSM:

#define AVOID_OBSTACLE_RIGHT 1

#define AVOID_OBSTACLE_LEFT 2

#define AVOID_OBSTACLE_MIDDLE 3

#define AVOID_OBSTACLE_MIDDLE_WAIT 4

#define AVOID_END 5

behaviour_command_t avoid = {0, 0, FWD, false, false, 0, IDLE};



/**

* The new avoid behaviour. It uses the two ACS channels to avoid

* collisions with obstacles. It drives arcs or rotates depending

* on the sensor states and also behaves different after some

* detecting cycles to avoid lock up situations.

*/

void behaviour_avoid(void)

{

static uint8_t last_obstacle = LEFT;

static uint8_t obstacle_counter = 0;

switch(avoid.state)

{

case IDLE:

// This is different to the escape Behaviour where

// we used the Event Handler to detect sensor changes...

// Here we do this within the states!

if(obstacle_right && obstacle_left) // left AND right sensor have detected something...

avoid.state = AVOID_OBSTACLE_MIDDLE;

else if(obstacle_left) // Left "sensor" has detected something

avoid.state = AVOID_OBSTACLE_LEFT;

else if(obstacle_right) // Right "sensor" has detected something

avoid.state = AVOID_OBSTACLE_RIGHT;

break;

case AVOID_OBSTACLE_MIDDLE:

avoid.dir = last_obstacle;

avoid.speed_left = AVOID_SPEED_ROTATE;

avoid.speed_right = AVOID_SPEED_ROTATE;

if(!(obstacle_left || obstacle_right))

{

if(obstacle_counter > 3)

{

obstacle_counter = 0;

setStopwatch4(0);

}

else

setStopwatch4(600);

startStopwatch4();

avoid.state = AVOID_END;

}

break;

case AVOID_OBSTACLE_RIGHT:

avoid.dir = FWD;

avoid.speed_left = AVOID_SPEED_L_ARC_LEFT;

avoid.speed_right = AVOID_SPEED_L_ARC_RIGHT;

if(obstacle_right && obstacle_left)

avoid.state = AVOID_OBSTACLE_MIDDLE;

if(!obstacle_right)

{

setStopwatch4(700);

startStopwatch4();

avoid.state = AVOID_END;

}

last_obstacle = RIGHT;

obstacle_counter++;

break;

case AVOID_OBSTACLE_LEFT:

avoid.dir = FWD;

avoid.speed_left = AVOID_SPEED_R_ARC_LEFT;

avoid.speed_right = AVOID_SPEED_R_ARC_RIGHT;

if(obstacle_right && obstacle_left)

avoid.state = AVOID_OBSTACLE_MIDDLE;

if(!obstacle_left)

{

setStopwatch4(700);

startStopwatch4();

avoid.state = AVOID_END;

}

last_obstacle = LEFT;

obstacle_counter++;

break;

case AVOID_END:

if(getStopwatch4() > 1000) // We used timing based movement here!

{

stopStopwatch4();

setStopwatch4(0);

avoid.state = IDLE;

}

break;

}

}



/**

* ACS Event Handler - ONLY used for LED display!

* This does not affect the behaviour at all!

* The sensor checks are completely done in the Avoid behaviour

* statemachine.

*/



/************************************************** ***************************/

// Behaviour control:



/**

* This function processes the movement commands that the behaviours generate.

* Depending on the values in the behaviour_command_t struct, it sets motor

* speed, moves a given distance or rotates.

*/

void moveCommand(behaviour_command_t * cmd)

{

if(cmd->move_value > 0) // move or rotate?

{

if(cmd->rotate)

rotate(cmd->speed_left, cmd->dir, cmd->move_value, false);

else if(cmd->move)

move(cmd->speed_left, cmd->dir, DIST_MM(cmd->move_value), false);

cmd->move_value = 0; // clear move value - the move commands are only

// given once and then runs in background.

}

else if(!(cmd->move || cmd->rotate)) // just move at speed?

{

changeDirection(cmd->dir);

moveAtSpeed(cmd->speed_left,cmd->speed_right);

}

else if(isMovementComplete()) // movement complete? --> clear flags!

{

cmd->rotate = false;

cmd->move = false;

}

}



/**

* The behaviourController task controls the subsumption architechture.

* It implements the priority levels of the different behaviours.

*/

void behaviourController(void)

{

// Call all the behaviour tasks:

behaviour_cruise();

behaviour_avoid();

behaviour_escape();



// Execute the commands depending on priority levels:

if(escape.state != IDLE) // Highest priority - 3

moveCommand(&escape);

else if(avoid.state != IDLE) // Priority - 2

moveCommand(&avoid);

else if(cruise.state != IDLE) // Priority - 1

moveCommand(&cruise);

else // Lowest priority - 0

moveCommand(&STOP); // Default command - do nothing!

// In the current implementation this never

// happens.

}


void akku(void)
{
if(adcBat > 800)
setLEDs(0b001001);
else if(adcBat < 801 && adcBat > 750)
{

statusLEDs.LED4 = !statusLEDs.LED4;
statusLEDs.LED1 = !statusLEDs.LED1;
updateStatusLEDs();
}

else if(adcBat < 751 && adcBat > 725)
setLEDs(0b000001);

else if(adcBat < 726 && adcBat > 700)
{
statusLEDs.LED1 = !statusLEDs.LED1;
updateStatusLEDs();
}
else if(adcBat < 701 && adcBat > 680)
setLEDs(0b000010);
//könnte ich hier irgendwann eine Variable fahrfunktion
//(langsermer) einrichten...mit angeschlossener
//Ir-empfänger für Palm quelle "suchfunktion"?

else if(adcBat < 681 && adcBat > 640)
{ mSleep (5000) ; //5sek.
statusLEDs.LED2 = !statusLEDs.LED2;
updateStatusLEDs();
if (adcBat >= 585)
{
moveAtSpeed(0,0);
//powerOFF();
mSleep(1000);
//powerON();
setACSPwrHigh();
}
else if (adcBat <= 641)
moveAtSpeed(0,0);


}
}
//Radar

#define pos1 450
#define pos2 1400

extern uint8_t acs_state;

uint16_t servo_pos, servo_timer, servo_dummy;

void radar (void)
{
DDRC |= 1;


startStopwatch1();
startStopwatch2();
//servo_pos = pos1;



{
if ((getStopwatch1() > 20) && (acs_state < 2)) // alle 20ms einen Servoimpuls erzeugen
{
setStopwatch1(0);
servo_timer = servo_pos;
PORTC|=1;
while(servo_timer--) servo_dummy ^= servo_timer;
PORTC&=~1;
}
if (getStopwatch2() > 1000) // alle 1000ms Servo auf andere Seite fahren
{
if (servo_pos == pos1) servo_pos=pos2; else servo_pos=pos1;
setStopwatch2(0);
}



}
}

/************************************************** ***************************/

// Main:



int main(void)

{

initRobotBase();




// Set Bumpers state changed event handler:

BUMPERS_setStateChangedHandler(bumpersStateChanged );



powerON(); // Turn on Encoders, Current sensing, ACS and Power LED.

setACSPwrMed();



// Main loop

while(true)

{

//task_RP6System();
//radar();
akku();
task_ADC();
task_ACS();
task_Bumpers();
task_motionControl();
//radar();

behaviourController();

}

return 0;

}

[Pr0gm4n]

Also eigentlich nicht, wenn du mit der Taste lediglich das Programm auswählen und starten willst musst du halt eine while(1)-Schleife einbauen, bei der du abfragst, welche Taste gedrückt ist und kannst dann mit einem simplen Funktionsaufruf dein Fahrprogramm auslösen, also so:



#include "RP6RobotBaseLib.h"

void Fahrprogramm_1(); //Prototypenliste
void Fahrprogramm_2();

void Fahrprogramm_1()
{
// Set Bumpers state changed event handler:

BUMPERS_setStateChangedHandler(bumpersStateChanged );



powerON(); // Turn on Encoders, Current sensing, ACS and Power LED.

setACSPwrMed();



// Main loop

while(true)

{

//task_RP6System();
//radar();
akku();
task_ADC();
task_ACS();
task_Bumpers();
task_motionControl();
//radar();

behaviourController();

}
}

void Fahrprogramm_2()
{
//halt dein 2. Fahrprogramm oder auch nix
}


int main(void)

{

initRobotBase();

while(1)
{
switch(rc5data.key_code)
{
case RC5_KEY_PROG1: Fahrprogramm_1(); break;
case RC5_KEY_PROG2: Fahrprogramm_2(); break;
//case <weitere Tasten>: Fahrprogramm_x(); break;

}
}




MfG Pr0gm4n