NIBObee auf Linie

[Christian Strasser]

Hallo Zusammen,
habe zu Weihnachten meinen ersten Roboter geschenkt bekommen. Habe jetzt den NIBObee mit meinem ersten wirklich selbstgemachten Programm beschrieben. Hier geht es um das verfolgen einer schwarzen Linie. Es klappt schon ganz gut.

Gruß
Christian

[judith222]

Hi,
I appreciate your work.But can you send the picture and more information about your robot.
Thanks in advance.

[Christian Strasser]

Hello judith222,

my robot is a construction kit NIBObee from nicai-systems. NIBObee is an autonomous robot particularly developed for pupils and students. It can be programmed in C, C++, Java and assembler. It's my first one! At the video, you see my first self made programm at C. For more information see at http://www.nicai-systems.com/en/nibobee.html.



Christian

PS: Where do you come from?

[Christian Strasser]

Hier noch das Programm..

#include <nibobee/iodefs.h>
#include <nibobee/motpwm.h>
#include <nibobee/delay.h>
#include <nibobee/sens.h>
#include <nibobee/odometry.h>
#include <nibobee/led.h>
#include <nibobee/line.h>



enum
{	//state - Zustand

	MODE_STOP,// Anhalten
	MODE_DRIVE,//Linie folgen
};

int16_t speed_l;
int16_t speed_r;
uint16_t counter_o;
int16_t *korrektur_l;
int16_t *korrektur_r;


void korrektur(int16_t links, int16_t rechts, int mitte);

uint8_t do_stop();
uint8_t do_drive(int16_t links, int16_t rechts, int mitte);

uint8_t mode_check(uint8_t mode);

int main()
{
	
	line_init();
	led_init();
	sens_init();
	motpwm_init();
	//odometry_init();
	uint8_t mode;

	
	while (1==1)
	{
		enable_interrupts();
		delay(1);
		
		
				
		
		
		
		int16_t links = line_get(LINE_L);
		int16_t rechts = line_get(LINE_R);
		int16_t mitte = line_get(LINE_C);
		
		mode = mode_check(mode);
		
		//Code for state transitions.  This code only figures out what
		//state transitions to make, and then makes them.
		switch(mode)
		{
			case MODE_STOP:		    mode = do_stop();                        break;
			case MODE_DRIVE:		mode = do_drive(links, rechts, mitte);   break;
		}

		
		//state outputs
		switch(mode)
		{
			case MODE_STOP:	                                     speed_l = 0;	           speed_r = 0;            break;
			case MODE_DRIVE:  korrektur(links, rechts, mitte);	 speed_l = *korrektur_l;   speed_r = *korrektur_r; break;
		}
		
		led_set(LED_L_YE, (links  + mitte) > 750);
		led_set(LED_L_RD, (links  + mitte) > 900);
		led_set(LED_R_RD, (rechts + mitte) > 900);
		led_set(LED_R_YE, (rechts + mitte) > 750);
		
		motpwm_setLeft(speed_l);
		motpwm_setRight(speed_r);
		
		
	}
	return 0;
}


uint8_t mode_check(uint8_t mode)
{
	if (sens_getLeft() && sens_getRight())
	{
		if((sens_getLeft()==-1) && sens_getRight()==-1)
		{
			mode = MODE_STOP;
		}
		else
		{
			mode = MODE_DRIVE;
		}
	}
	return mode;
}

uint8_t do_drive(int16_t links, int16_t rechts, int mitte)
{
	uint16_t static counter_stop = 3000;
	if ((links + mitte > 900) && (mitte + rechts >900))
	{
		counter_stop--;
		if(!counter_stop)
		{
			return MODE_STOP;
		}
	}
	else
	{
		counter_stop = 3000;
		return MODE_DRIVE;
	}
	return MODE_DRIVE;
}

uint8_t do_stop()
{
	return MODE_STOP;
}




void korrektur(int16_t links, int16_t rechts, int mitte)
{
	int16_t static ir = 510;
	int16_t static il = 500;
	
	if  (((links + mitte) >750) && ((rechts + mitte) < 750))
	{
		ir = ir - 10;
		il = il + 3;
	}
	else if (((links + mitte) < 750) && ((rechts + mitte) > 750))
	{
		il = il - 10;
		ir = ir + 5;
	}
	else
	{
		il = 500;
		ir = 510;		
	}
	
	if (((links + mitte) >750) && ((rechts + mitte) >750))
	{
		il = il--;
		ir = ir--;
	}	
	
	//Min 200
	if ( il < 200)
	{
		il = 200;
	}
	if ( ir < 200)
	{
		ir = 200;
	}
	
	//Max 700
	if ( il > 700)
	{
		il = 700;
	}
	if ( ir > 700)
	{
		ir = 700;
	}
	
	korrektur_l =& il;
	korrektur_r =& ir;
}