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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