RP6 -- Ein Motor rückwärts?

[AsuroPhilip]

Hallo

kann man ein Motor vorwärts und eine rückwärts laufen lassen, aber mit bestimmter Geschwindigkeit. Also z.B. moveAtSpeed(80, -90) ??


mfG
Philip

[radbruch]

Hallo

So vielleicht:

// Die Drehrichtungen werden in RP6RobotBaseLib.h definiert:

// Direction:
// #define FWD 0
// #define BWD 1
// #define LEFT 2
// #define RIGHT 3

// moveAtSpeed() mit Drehrichtungsangabe als dritter Parameter

void moveAtSpeed2(uint8_t desired_speed_left, uint8_t desired_speed_right, uint8_t dir)
{
	moveAtSpeed(desired_speed_left, desired_speed_right);
	changeDirection(dir);
}

// rotoate() mit zwei unterschiedlichen Geschwindigkeiten (mit Weganpassung der Seiten)

void rotate2(uint8_t desired_speed_left, uint8_t desired_speed_right, uint8_t dir, uint16_t angle, uint8_t blocking)
{
	uint16_t distance, distance_left, distanceright;

	motion_status.move_L = true;
	motion_status.move_R = true;
	distance = (uint16_t) (((uint32_t)(ROTATION_FACTOR) * (uint16_t)angle)/100);
	
	distance += distance; // Gesamtweg verteilen
	distance_left = distance * desired_speed_left / (desired_speed_left + desired_speed_right);
	distance_right = distance - distance_left;
	
	preDecelerate_L = distance_left - 100;
	preDecelerate_R = distance_right - 100;
	preStop_L = distance_left;
	preStop_R = distance_right;
	if(distance_left < 40) {
		distance_left = 40;
		preStop_L = 20;
		preDecelerate_L = 10;
	}
	if(distance_right < 40) {
		distance_right = 40;
		preStop_R = 20;
		preDecelerate_R = 10;
	}
	moveAtSpeed(desired_speed_left, desired_speed_right);
	changeDirection(dir);

   mleft_dist = 0;
	mright_dist = 0;
	distanceToMove_L = distance_left;
	distanceToMove_R = distance_right;

	motion_status_tmp = motion_status.byte;
	MOTIONCONTROL_stateChangedHandler();
	if(blocking)
		while(!isMovementComplete())
			task_RP6System();
}

(ungetestet, Basis der Funktionen aus der RP6-Library)


Gruß

mic

[AsuroPhilip]

hm.... der Compiler mekert das viele Variablen undeclared sind. Geht es auch so: moveAtSpeed3(speed_links, speed_rechts, dir_links, dir_rechts); ???

[radbruch]

Hallo

uint16_t distance, distance_left, distanceright;

Hier fehlt der Unterstrich in distanceright.

Bringt moveAtSpeed3() einen Vorteil? Es gibt doch nur vier Kombinationen.

// Richtung: 0 = Vorwärts, 1 = Rückwärts
moveAtSpeed3(uint8_t desired_speed_left, uint8_t desired_speed_right, uint8_t dir_left, uint8_t dir_right)
{
	moveAtSpeed(desired_speed_left, desired_speed_right);
	setMotorDir(uint8_t dir_left, uint8_t dir_right); // Kommentar in der Lib beachten!
}

Gruß

mic

[AsuroPhilip]

das mit setMotorDir ist genau das was ich gesucht hab, aber:

undefined reference to `setMotorDir'

[radbruch]

Möglicherweise wurde die Funktion rausgeschmissen:

/**
 * Sets the rotation direction of both motors.
 *
 * DO NOT CHANGE THE DIRECTION OF THE MOTORS WHILE THEY
 * ARE RUNNING AT HIGH SPEEDS!!! 
 * It will not instantly damage the motors/gears, but they will  
 * wear out much faster if you do it at high speeds - better wait 
 * until speed has slowed down - and change direction AFTER this.
 *
 * -------------------------------------------------------------
 * IT IS A BETTER IDEA NOT TO USE THIS FUNCTION AT ALL!
 * Use moveAtSpeed together with task_motionControl instead.
 * YOU CAN NOT USE setMotorPower AND setMotorDir WHEN YOU USE 
 * task_motionControl!  This will not work!
 * -------------------------------------------------------------
 *
 * task_motionControl also ensures that the direction is changed
 * slowly and only after the motors have stopped!
 *
 * Example:
 *          // DO NOT perform these commands directly after each
 *			// other in your programs - this is just a LIST of possible
 *			// combinations:
 *			setMotorDir(FWD,FWD); // Move forwards
 *			setMotorDir(BWD,FWD); // Rotate right
 *			setMotorDir(FWD,BWD); // Rotate left
 *			setMotorDir(BWD,BWD); // Move backwards
 *
 */
void setMotorDir(uint8_t left_dir, uint8_t right_dir)
{
	mleft_dir = left_dir;
	mright_dir = right_dir;
	mleft_des_dir = left_dir;
	mright_des_dir = right_dir;
	if(left_dir)
		PORTC |= DIR_L;
	else
		PORTC &= ~DIR_L;
	if(right_dir)
		PORTC |= DIR_R;
	else
		PORTC &= ~DIR_R;
}

[AsuroPhilip]

Der Compiler meckert:

PC.c:24: error: 'DIR_R' undeclared (first use in this function)
PC.c:20: error: 'DIR_L' undeclared (first use in this function)
PC.c:18: error: 'mright_des_dir' undeclared (first use in this function)
PC.c:17: error: 'mleft_des_dir' undeclared (first use in this function)
PC.c:16: error: 'mright_dir' undeclared (first use in this function)
PC.c:15: error: 'mleft_dir' undeclared (first use in this function)

ich benutze die M32.

[radbruch]

Irgendwie klemmt's heute extrem. Bindest du die Library ein?

#include "RP6RobotBaseLib.h"

In task_motionControl() wird bei Stillstand die Richtung ausgewählt:

				if(!TCCR1A) // Is the PWM module turned off?
				{			// Yes, change direction and restore old speed:
					setMotorDir(mleft_des_dir,mright_des_dir);
					mleft_des_speed = mleft_des_speed_tmp;
					mright_des_speed = mright_des_speed_tmp;
					left_i = 0;
					right_i = 0;
				}

[radbruch]

"ich benutze die M32." Aua

[AsuroPhilip]

Bindest du die Library ein?

#include "RP6RobotBaseLib.h"

Ich habe folgende eingebunden:

#include "RP6ControlLib.h"
#include "RP6ControlServoLib.h"
#include "RP6uart.h"
#include "RP6I2CmasterTWI.h"    
#include "RP6Control_I2CMasterLib.h"