Code:
program Robo;
{ $BOOTRST $07000} {Reset Jump to $07000}
{ $W+ Warnings} {Warnings off}
{$M+} {end ... on}
Device = mega64, VCC=5;
Import SysTick, SerPort, PWMport1A, PWMport1B;
From System Import Float, Processes;
Define
ProcClock = 8000000; {Hertz}
SysTick = 10; {msec}
StackSize = $0064, iData;
FrameSize = $0064, iData;
Scheduler = iData;
SerPort = 57600, Stop2; {Baud, StopBits|Parity}
RxBuffer = 8, iData;
TxBuffer = 8, iData;
PWMres1 = 8; {bits}
PWMpresc1 = 64;
Implementation
{$IDATA}
{--------------------------------------------------------------}
{ Type Declarations }
type
{--------------------------------------------------------------}
{ Const Declarations }
const
wait : word = 200; //Pause Initialisierung
vmax : float = 255; //Maximal-PWM
vdrive : integer = 128; //Fahr PWM;
vm2 : word = 45; //Maximal-PWM Aufgabe 2
vd2 : word = 10; //PWM Differenz Aufgabe 2 für Lenken
vm3 : word = 64; //Maximal-PWM Aufgabe 3
vd3 : word = 32; //PWM Differenz Aufgabe 3 für Lenken
directMax : word = 200; //Dauer gerade Fahren nach Ball erkannt Aufgabe 3
direct2Max : word = 400; //Dauer gerade Fahren nach Tor erkannt Aufgabe 3
vmess : word = 63; //Mess-PWM für Border-Erkennung
toturn : word = 500; //Maximal Zähler Lenken Aufgabe 2
blockMax : word = 300; //Maximalzeit Dauer Erkennung Blockieren Rad
mi : word = 500; //maximale Mess-Schritte für Border-Erkennung
mu : word = 100; //mind. Abweichung für Border-Erkennung
ma : word = 50; //Offset auf erkannte Border
nRound : byte = 2; //Anzahl Durchschnittswerte Drehzahl - 2^n
nBreak : integer = 30; //Erkennung Abfallende Flanke T-U-Wandler
steps : longint = 1000; //Auflösung Bahnerkennung
isMax : integer = 550; //maximaler is-Werte, Abschneiden, Randerkennung //550
pd : float = 1.5; //Regler Drehzahl //1.5
//////////PID/////
kp : float = 0.35; //P-Anteil //0.35
kd : float = 10; //D-Anteil =ki/ta //10
//ta ~ 1ms
//////////////////
{--------------------------------------------------------------}
{ Var Declarations }
{$EEPROM}
var
RdarkE : word;
LdarkE : word;
RbrightE : word;
LbrightE : word;
borderE : word;
{$IDATA}
var
R[@PortB, 1] : bit; //Rad rechts
L[@PortB, 0] : bit; //Rad links
T1[@PinC, 0] : bit; //Taster 1-3
T2[@PinC, 1] : bit; // 2-3 getauscht!
T3[@PinC, 2] : bit; //
S[@PortC, 3] : bit; //Schussmotor
B[@PinC, 4] : bit; //Balllichtschranke
E[@PinC, 5] : bit; //Endschalter
Led[@PortC, 7] : bit; //Led Spur
X1[@PinD, 2] : bit; //TSOP 1-3
X2[@PinD, 3] : bit; //
X3[@PinD, 4] : bit; //
D1[@PortA, 2] : bit; //Sensor Indikatoren
D2[@PortA, 4] : bit; //
D3[@PortA, 5] : bit; //
AdcChan :byte;
CurrentAdc :word;
CurrentAdcLo[@CurrentAdc]:byte;
CurrentAdcHi[@CurrentAdc+1]:byte;
ada :array[0..3] of longword;
done :array[0..3] of boolean;
spd :array[0..3] of word;
run :array[0..1, 0..1] of word;
Rdark : word;
Ldark : word;
Rbright : word;
Lbright : word;
border : word;
Ris, Lis : integer;
is : integer;
stat : byte;
vr, vl : integer;
menu : byte; //Menu
pref : boolean; //Untermenu Einstellungen
btm : boolean; //back to menu
z : byte;
z2 : word;
//z4 : word;
z3 : float;
//z5 : float;
turn : word; //Zähler Lenken Aufgabe 2
isold : integer;
yp,yd,y,y2 : integer; //Anteile PID
drest : integer; //Rest von D-Anteil
stat3 : byte; //Status Aufgabe 3
direct : word; //Zählwert gerade Fahren Ball gefunden Aufgabe 3
direct2 : word; //Zählwert gerade Fahren Tor gefunden Aufgabe 3
stat0 : byte; //Status Spur gefunden
{--------------------------------------------------------------}
{ functions }
interrupt ADCRdy;
begin
CurrentAdcLo:=ADCL;
CurrentAdcHi:=ADCH;
if AdcChan<2 then
ada[AdcChan]:=longword(CurrentAdc);
else
if CurrentADC>spd[AdcChan] then
spd[AdcChan]:=CurrentADC;
spd[AdcChan-2]:=0;
endif;
if (spd[AdcChan-2]<blockMax) then inc(spd[AdcChan-2]); endif;
if (CurrentADC>1020) or (spd[AdcChan-2]>=blockMax) then
ada[AdcChan]:=44000;
spd[AdcChan]:=0;
endif;
if (integer(spd[AdcChan])-integer(CurrentADC))>nBreak then
if ada[AdcChan]=44000 then
ada[AdcChan]:=4*longword(spd[AdcChan]);
else
ada[AdcChan]:=ada[AdcChan]-(ada[AdcChan] shr nRound);
ada[AdcChan]:=ada[AdcChan]+longword(spd[AdcChan]);
endif;
spd[AdcChan]:=0;
endif;
endif;
done[AdcChan]:=true;
inc(AdcChan);
if AdcChan>3 then AdcChan:=0; endif;
ADMUX:=(ADCChan and $07)or $40;
ADCSRA:=$CF; //F=128 Prescaler
end interrupt_ADCRdy;
procedure initports;
begin
DDRA:= %11111111; //7-Segmentanzeige
PortA:=%00000000;
DDRB:= %01100011; //Motortreiber; 0:V/R rechts; 1:V/R links; 5:PWM 1A rechts; 6: PWM 1B links;
PortB:=%00000000;
DDRC:= %10001000; //0-2:Taster; 3:Schussmotor; 4:Balllichtschranke; 5:Endschalter; 7:Led (Spur)
PortC:=%00100111;
DDRD:= %00000000; //2-4:Tordedektierung
PortD:=%00011100;
DDRF:= %00000000; //analog; 0:IR-Sensor rechts; 1:IR-Sensor links; 2:Drehzahl links; 3: Drehzahl rechts
PortF:=%00000000;
end initports;
procedure display(x: byte);
begin
case x of
0: PortA:=%10110111; |
1: PortA:=%00000110; | // =I
2: PortA:=%01110011; |
3: PortA:=%01010111; |
4: PortA:=%11000110; |
5: PortA:=%11010101; | // =S
6: PortA:=%11110101; |
7: PortA:=%00000111; |
8: PortA:=%11110111; |
9: PortA:=%11010111; |
10: PortA:=%00001000; | // =.
11: PortA:=%10110110; | // =U
12: PortA:=%10110001; | // =C
13: PortA:=%11100110; | // =H
14: PortA:=%10110000; | // =L
15: PortA:=%11110001; | // =E
16: PortA:=%00001110; | // =1.
17: PortA:=%01111011; | // =2.
18: PortA:=%01011111; | // =3.
19: PortA:=%11001110; | // =4.
20: PortA:=%11101110; | // =H.
endcase;
end display;
procedure setupadc;
begin
ada[2]:=0; ada[3]:=0;
spd[2]:=0; spd[3]:=0;
ADMUX:=$40;
ADCSRA:=$CF;
ADCChan:=0;
end setupadc;
procedure init;
begin
PWMPort1A:=0;
PWMPort1B:=0;
setupadc;
menu:=1;
display(menu);
pref:=false;
led:=true;
end init;
function getada(chan :byte) :longword;
begin
repeat
until done[chan]=true;
done[chan]:=false;
return(ada[chan]);
end getada;
procedure copyE;
begin
if RdarkE>RbrightE then
Rbright:=RdarkE;
Lbright:=LdarkE;
Rdark:=RbrightE;
Ldark:=LbrightE;
else
Rdark:=RdarkE;
Ldark:=LdarkE;
Rbright:=RbrightE;
Lbright:=LbrightE;
endif;
border:=borderE;
end copyE;
procedure getRL;
var
Rwas, Lwas :integer;
begin
Rwas:=(integer(getada(0))-integer(Rdark));
Lwas:=(integer(getada(1))-integer(Ldark));
if Rwas<0 then Rwas:=0; endif;
if Lwas<0 then Lwas:=0; endif;
Ris:=integer((longint(Rwas)*steps) DIV longint(Rbright-Rdark));
Lis:=integer((longint(Lwas)*steps) DIV longint(Lbright-Ldark));
if Ris>integer(steps) then Ris:=integer(steps); endif;
if Lis>integer(steps) then Lis:=integer(steps); endif;
end getRL;
procedure show;
begin
copyE;
Writeln(SERout, 'Rdark=' + inttostr(Rdark));
Writeln(SERout, 'Ldark=' + inttostr(Ldark));
Writeln(SERout, 'Rbright=' + inttostr(Rbright));
Writeln(SERout, 'Lbright=' + inttostr(Lbright));
Writeln(SERout, 'border=' + inttostr(border));
Writeln(SERout, ' ');
end show;
procedure darkinit;
begin
display(10);
RdarkE:=word(getada(0));
LdarkE:=word(getada(1));
show;
mdelay(wait);
end darkinit;
procedure brightinit;
begin
display(10);
RbrightE:=word(getada(0));
LbrightE:=word(getada(1));
show;
mdelay(wait);
end brightinit;
procedure scanborder;
var
x :word;
begin
display(10);
L:=1;
R:=0;
PWMPort1A:=255;
PWMPort1B:=255;
mdelay(20);
PWMPort1A:=vmess;
PWMPort1B:=vmess;
copyE;
stat:=0;
for x:=1 to mi do
getRL;
//writeln(serout, 'a' + inttostr(Ris) + 'b' + inttostr(Lis) + 'cdz');
mdelay(1);
if Lis+mu<Ris then stat:=1; endif;
if (Lis>Ris) and (stat=1) then x:=mi; endif;
endfor;
PWMPort1A:=0;
PWMPort1B:=0;
borderE:=word(Ris+Lis)div 2 - ma;
Writeln(SERout, 'border=' + inttostr((Ris+Lis)div 2 - ma) +
' Lis=' + inttostr(integer(Lis)) + ' Ris=' + inttostr(integer(Ris)));
end scanborder;
procedure indi;
begin
D1:=X1;
D2:=X2;
D3:=X3;
end indi;
procedure load;
begin
S:=true;
display(14);
repeat
until E=true;
S:=false;
display(5);
while T2=false do endwhile;
if menu=2 then display(10); endif;
repeat
if menu=2 then indi; endif;
until T2=false;
end load;
procedure shot;
begin
load;
for z:=9 downto 0 do
display(z);
if z=1 then S:=true; endif;
mdelay(725);
endfor;
S:=false;
end shot;
procedure calcIs;
begin
is:=integer(Ris-Lis);
if ((Lis>integer(border)) and (is<0)) or ((Ris>integer(border)) and (is>0)) then stat:=0; endif;
if (Ris<integer(border)) and (is>0) and (stat=0) then stat:=1; endif;
if (Lis<integer(border)) and (is<0) and (stat=0) then stat:=2; endif;
if stat=1 then is:=isMax; endif;
if stat=2 then is:=-isMax; endif;
end calcIs;
procedure pid;
begin
yd:=integer(float(is-isold)*kd); // D-Anteil berechnen und mit
yd:=yd+drest; // nicht berücksichtigtem Rest addieren
if yd>vmax then
drest:=yd-vmax; // merke Rest
else
if yd<-vmax then
drest:=yd+vmax;
else
drest:=0;
endif;
endif;
yp:=integer(float(is)*kp); // P-Anteil berechnen
y:=yp+yd; // Gesamtkorrektur
y2:=y div 2; // Aufteilung auf beide Motoren
isold:=is; // is merken
vl:=vdrive;
vr:=vdrive;
if y>0 then // nach rechts
vl:=vdrive+y2; // links beschleunigen
if vl>vmax then
vl:=vmax; // falls Begrenzung
y2:=vl-vdrive; // dann Rest rechts berücksichtigen
endif;
y:=y-y2;
vr:=vdrive-y; // rechts abbremsen
if vr<0 then vr:=0; endif;
endif;
if y<0 then // nach links
vr:=vdrive-y2; // rechts beschleunigen
if vr>vmax then
vr:=vmax; // falls Begrenzung
y2:=vdrive-vr; // dann Rest links berücksichtigen
endif;
y:=y-y2;
vl:=vdrive+y; // links abbremsen
if vl<0 then vl:=0; endif;
endif;
end pid;
procedure swing;
begin
if (X2=true) {or (S=true)} then
turn:=0;
run[0,0]:=vm2;
run[0,1]:=vm2;
else
inc(turn);
if (turn<=toturn) or (turn>3*toturn) then
run[0,0]:=vm2-vd2;
run[0,1]:=vm2;
if turn>4*toturn then turn:=0; endif;
endif;
if (turn>toturn) and (turn<=3*toturn) then
run[0,0]:=vm2;
run[0,1]:=vm2-vd2;
endif;
endif;
end swing;
procedure menu2;
begin
if B=true then
swing;
getRL;
if (word(Ris)>border) or (word(Lis)>border) then S:=true; endif;
else
run[0,0]:=0;
run[0,1]:=0;
btm:=true;
endif;
end menu2;
procedure iniline;
begin
L:=true;
R:=true;
stat0:=1;
stat3:=0;
end iniline;
{--------------------------------------------------------------}
{ Main Program }
{$IDATA}
begin
initports;
Start_Processes;
init;
repeat
{Menu}
repeat
if T1=false then
inc(menu);
if pref=false then
if menu>5 then menu:=1; endif;
if menu<>5 then display(menu); else display(15); endif; // 15=E
else
if menu>5 then menu:=1; endif;
if menu<>5 then display(15+menu); else display(20); endif; // 20=H
endif;
mdelay(200);
while T1=false do endwhile;
endif;
if T2=false then
if pref=false then
if menu=5 then
pref:=true;
menu:=1;
endif;
else
case menu of
1: darkinit; |
2: brightinit; |
3: scanborder; |
4: shot; |
5: pref:=false;
menu:=1; |
endcase;
endif;
while T2=false do endwhile;
endif;
if pref=false then
if menu<>5 then display(menu); else display(15); endif; // 15=E
else
if menu<>5 then display(15+menu); else display(20); endif; // 20=H.
endif;
until (T2=false) and (pref=false) and (menu<=4);
{Program}
show;
while T2=false do endwhile;
copyE;
L:=true;
R:=true;
btm:=false;
turn:=0;
if (menu=1) or (menu=3) then stat0:=0; endif;
if (menu=2) or (menu=3) then
load;
while T2=false do endwhile;
endif;
if menu=3 then
stat3:=0;
direct:=0;
direct2:=0;
endif;
if menu=4 then
run[0,0]:=vm2;
run[0,1]:=vm2;
endif;
if menu<>1 then display(10); endif;
{Main Routine}
repeat
if (menu=1) or (menu=3) then
getRL;
if stat0=1 then
if (menu=3) then
if (stat3=0) and (B=true) then inc(direct); endif;
if direct>directMax then
if (X3=true) and (X1=false) then stat3:=2; else stat3:=3; endif;
direct:=0;
endif;
if (stat3=2) and (X1=true) and (X3=false) then
stat3:=3;
else
if (stat3=3) and (X3=true) and (X1=false) then stat3:=2; endif;
endif;
if ((stat3=2) or (stat3=3)) and (X2=true) then stat3:=4; endif;
if stat3=4 then
if S=false then
stat3:=5;
else
run[0,0]:=0;
run[0,1]:=0;
endif;
endif;
if stat3=5 then
swing;
inc(direct2);
if direct2>direct2Max then
S:=true;
direct2:=0;
endif;
if (B=false) and (direct2=0) then stat0:=2; endif;
endif;
if (stat3=2) or (stat3=3) then
if stat3=2 then
run[0,0]:=vm3-vd3;
run[0,1]:=vm3;
endif;
if stat3=3 then
run[0,0]:=vm3;
run[0,1]:=vm3-vd3;
endif;
endif;
endif; //menu=3
endif; //stat0=1 (found)
if (stat3<>5) and (E=true) then S:=false; endif;
if stat0=0 then
if (word(Ris)>=border) and (word(Lis)<border) then iniline; endif;
if (word(Lis)>=border) and (word(Ris)<border) then stat0:=3; endif;
endif;
if (stat0=3) and (word(Ris)>=border) and (word(Lis)<border) then stat0:=4; endif;
if (stat0=4) and (word(Lis)>=border) and (word(Ris)<border) then iniline; endif;
if stat0=2 then
if (word(Ris)>=border) then iniline; endif;
endif;
if (stat0=1) and ((menu=1) or ((menu=3) and (stat3=0))) then
calcIs;
pid;
run[0,0]:=word(vl);
run[0,1]:=word(vr);
endif;
if stat0=0 then
run[0,0]:=vmax;
run[0,1]:=vmax;
endif;
if stat0=2 then
//drive back
run[0,0]:=(5*vmax) div 4;
run[0,1]:=vmax div 2;
L:=false;
R:=false;
endif;
if (stat0=3) or (stat0=4) then
run[0,0]:=vmax div 3;
run[0,1]:=vmax div 2;
L:=false;
endif;
endif; //menu=1 or menu=3
if menu=2 then menu2; endif;
if menu<>1 then indi; endif;
//display(stat0);
//run[0,0]:=vm2;
//run[0,1]:=vm2;
for z:=0 to 1 do
z2:=11000 div word( getada(z+2) shr nRound ) ;
if (z2>270) or (z2<15) then z2:=0; endif;
//if z=0 then z4:=z2; endif;
z3:=float(run[0,z])+ pd*(float(run[0, z])-float(z2));
if z3<0 then z3:=0; endif;
if z3>255 then z3:=255; endif;
//if z=0 then z5:=z3; endif;
run[1,z]:=word(z3); //z3
endfor;
//writeln(serout, inttostr(is));
//mdelay(50);
//writeln(serout, 'a' + inttostr(z2) + 'b' + inttostr(integer(z3)) + 'c'
// + inttostr(z4) + 'd' + inttostr(integer(z5)) + 'z');
//mdelay(30);
PWMport1A:=run[1,1];
PWMport1B:=run[1,0];
until (T1=false) or (T2=false) or (T3=false) or (btm=true);
if btm=true then
repeat
until E=true;
S:=false;
endif;
until btm=false;
PortA:=%00000000;
PWMPort1A:=0;
PWMPort1B:=0;
S:=false;
end Robo.
Das interesanteste für dich ist sicherliche die procedure PID, die ich von waste übernommen habe. Aber das Auswerten und Anpassen durch Initialisieren der Sensordaten war auch nicht trivial.
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