Hallo,
ich habe meinen RP6 gerade mit ein paar Wärmesensoren ausgestattet.
Diese werden über die M32 ausgewertet.
Soweit läuft alles, aber jetzt wollte ich die Bumper mit ins Programm einfügen.
Leider reagieren die nicht!
Was mache ich falsch.](*,) ](*,) ](*,)
Hier der Quellcode.
Danke für eure HilfeCode:// Includes:
#include "RP6ControlLib.h"
#include "RP6I2CmasterTWI.h"
#include "RP6Control_I2CMasterLib.h"
/*****************************************************************************/
#define I2C_RP6_BASE_ADR 10
// I2C Requests:
/**
* The I2C_requestedDataReady Event Handler
*/
void I2C_requestedDataReady(uint8_t dataRequestID)
{
checkRP6Status(dataRequestID);
}
/*****************************************************************************/
void bumpersStateChanged(void)
{
// Bumper status changed, output current state and play sounds:
writeString_P("Bumpers changed: ");
if(bumper_right && bumper_left)
{
writeString_P("MIDDLE!");
sound(200,100,0);
}
else
{
if(bumper_left)
{
writeString_P("LEFT!");
sound(200,50,10);
sound(150,20,0);
}
else if(bumper_right)
{
writeString_P("RIGHT!");
sound(200,50,10);
sound(150,20,0);
}
else
{
writeString_P("FREE!");
}
}
writeChar('\n');
}
int z; //Globale Variable
void scan (int ds)
{
writeString_P("\nDS\n");
writeInteger(ds, DEC );
int max;
do
{
sound(100,10,20);
sound(245,10,30);
sound(215,60,10);
int16_t adc2r = readADC(ADC_2);
int16_t adc3r = readADC(ADC_3);
max=adc2r-(adc3r+5); //Wert der Umgebung wird genommen
writeString_P("\nrechts SCAN\n");
writeInteger(adc2r, DEC );
writeString_P("\nlinks SCAN\n");
writeInteger(adc3r, DEC );
moveAtSpeed(50,0); //Drehe
setLEDs(0b1111);
}
while(!(max<(ds-15))); //Bis neu gemessener Wert stark von dem Übergebenen Anfangswert abweicht
}
void Snake (int dif)
{
sound(225,40,0);
sound(215,60,0);
sound(205,80,0);
sound(215,60,0);
int16_t adc2 = readADC(ADC_2);
int16_t sSnake = adc2;
int16_t adc3 = readADC(ADC_3);
int16_t sSnake2 = adc3;
int a,b;
a=(sSnake-sSnake2); //Neuer Wert wird genommen
b=0;
if (a>dif+10)
{
writeString_P("\na ist grosser dif\n");
writeInteger(a, DEC );
setLEDs(0b1100);
moveAtSpeed(50,0); //rechts drehen
b=1;
}
if(a<dif-5)
{
writeString_P("\na ist kleiner dif\n");
writeInteger(a, DEC );
setLEDs(0b0011);
moveAtSpeed(0,50); //links drehen
b=1;
}
if (b==0)
{
writeString_P("\na ist gleich dif\n");
writeInteger(a, DEC );
setLEDs(0b0110);
moveAtSpeed(40,40); //gerade fahren Richtung Feuer
z=a;
}
if((sSnake>420||sSnake2>420))
{
writeString_P("\nFeuer erreicht Löschen\n");
writeString_P("\nFeuer erreicht links\n");
writeInteger(sSnake, DEC );
writeString_P("\nFeuer erreicht rechts\n");
writeInteger(sSnake2, DEC );
moveAtSpeed(0,0);
DDRC |= IO_PC7; //PC7 als Ausgang Lüfter 5-Volt
PORTC |= IO_PC7; // Lüfter an
mSleep(500); // 0,5s
PORTC &= ~IO_PC7; // Lüfter aus
move(60,BWD, DIST_MM(200), BLOCKING);
rotate(40,RIGHT,65,BLOCKING);
mSleep(4000);
changeDirection(FWD);
adc2 = readADC(ADC_2);
sSnake = adc2;
adc3 = readADC(ADC_3);
sSnake2 = adc3;
a=(sSnake-sSnake2);
z=a;
scan(z);
}
}
// I2C Error handler
/**
* This function gets called automatically if there was an I2C Error like
* the slave sent a "not acknowledge" (NACK, error codes e.g. 0x20 or 0x30).
*/
void I2C_transmissionError(uint8_t errorState)
{
writeString_P("\nI2C ERROR - TWI STATE: 0x");
writeInteger(errorState, HEX);
writeChar('\n');
}
/*****************************************************************************/
// Main function - The program starts here:
int main(void)
{
initRP6Control();
initLCD();
writeString_P("\n\nRP6 CONTROL M32 I2C Master Example Program!\n");
writeString_P("\nMoving...\n");
DDRA &= ~ADC3;
DDRA &= ~ADC2;
// ---------------------------------------
WDT_setRequestHandler(watchDogRequest);
BUMPERS_setStateChangedHandler(bumpersStateChanged);
// ---------------------------------------
// Init TWI Interface:
I2CTWI_initMaster(100);
I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady);
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
sound(180,80,25);
sound(220,80,25);
setLEDs(0b1001);
// ---------------------------------------
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_MED);
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT, true);
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT_RQ, true);
int16_t adc2 = readADC(ADC_2);
int16_t sSnake = adc2;
writeString_P("\nadc2 MAIN\n");
writeInteger(sSnake, DEC );
int16_t adc3 = readADC(ADC_3);
int16_t sSnake2 = adc3;
writeString_P("\nadc3 MAIN\n");
writeInteger(sSnake2, DEC );
int dd;
dd=(sSnake-sSnake2); //Startwert
scan(dd);
sound(245,10,0);//Abeichung zum Startwert erkannt
sound(235,20,0);
sound(225,40,0);
sound(215,60,0);
sound(205,80,0);
sound(215,60,0);
sound(225,40,0);
sound(235,20,0);
sound(245,10,0);
setLEDs(0b0001);
sSnake=readADC(ADC_2);
writeString_P("\nneu rechts ADC2\n");
writeInteger(sSnake, DEC );
sSnake2=readADC(ADC_3);
writeString_P("\nneu links ADC3\n");
writeInteger(sSnake2, DEC );
dd=(sSnake-sSnake2); //Feuer gefunden Neuer Wert
writeString_P("\ndd zu dif\n");
writeInteger(dd, DEC );
z=dd;
while (true)
{
Snake(dd);
task_checkINT0();
task_I2CTWI();
dd=z;
}
return 0;
}
roy-sam
