Unterschiede

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--- privat:projekte:rasenmaeherroboter:fernsterung:arduinocode [2025/12/28 09:49] – vitalij
+++ privat:projekte:rasenmaeherroboter:fernsterung:arduinocode [2026/01/19 17:41] (aktuell) – old revision restored vitalij
@@ Zeile 1: / Zeile 1: @@
-Notizen
+{{.:pasted:20251228-094748.png}}
-// Channel 2 für geschwindigkeit
-// channel 1 für links und rechts
-#include <AFMotor.h>
-AF_DCMotor motor1(1, MOTOR12_64KHZ); // erzeuge objekt motor an
-AF_DCMotor motor2(2, MOTOR12_64KHZ); // erzeuge objekt motor an
-AF_DCMotor motor3(3, MOTOR12_64KHZ); // erzeuge objekt motor an
-int PWM_PIN22 = 17; //Define Digital PIN
-int PWM_PIN18 = 18; //Define Digital PIN
-int PWM_PIN19 = 19; //Define Digital PIN
-int PWM_PIN20 = 20; //Define Digital PIN
-int PWM_PIN21 = 21; //Define Digital PIN
-void setup() {
-  pinMode(PWM_PIN18, OUTPUT);
-  pinMode(PWM_PIN19, INPUT);
-  pinMode(PWM_PIN20, INPUT);
-  pinMode(PWM_PIN21, INPUT);
-  pinMode(PWM_PIN22, INPUT);
-  Serial.begin(115200);
-}
-void loop() {
-//Serial.print("tick");
- int pwm1 = pulseIn(PWM_PIN19, HIGH); //Read PWM Pulse
- int pwm2 = pulseIn(PWM_PIN20, HIGH); //Read PWM Pulse
- int pwm3 = pulseIn(PWM_PIN21, HIGH); //Read PWM Pulse
- int maehen = pulseIn(PWM_PIN22, HIGH); //Read PWM Pulse
-// int maehen = digitalRead(PWM_PIN22); //Read PWM Pulse
- int a = pulseToPWM(pwm1); //-1*(499-(pwm1-996))/2;
- int b = pulseToPWM(pwm2);
- int c = pulseToPWM(pwm3);
- //int c = 499-(pwm3-996);
- //int d = 499-(maehen-996);
- int d = pulseToPWM(maehen);
- // Serial.print("PWM CH1: ");
- // Serial.print(a);
-//  Serial.print(" PWM CH2: ");
-//  Serial.print(b);
-//  Serial.print(" PWM CH3: ");
-//  Serial.println(c);
-  Serial.print(" PWM maehen: ");
-  Serial.println(maehen);
-if (a>0) {
-  motor1.run(FORWARD);
-  motor1.setSpeed(abs(a));
-}
-else if (a<0) {
-  motor1.run(BACKWARD);
-  motor1.setSpeed(abs(a));
-}
-else {
-  motor1.run(RELEASE); // Motor stopp
-}
-if (b>0) {
-  motor2.run(FORWARD);
-  motor2.setSpeed(abs(b));
-}
-else if (b<0) {
-  motor2.run(BACKWARD);
-  motor2.setSpeed(abs(b));
-}
-else {
-  motor2.run(RELEASE); // Motor stopp
-}
-if (d>0){
-  motor3.run(BACKWARD);
-  motor3.setSpeed(d);
-}else {
-  motor3.run(RELEASE); // Motor stopp
-}
-}
-int pulseToPWM(int pulse) {
-const int deadzone = 10;
-const int hlevel = 1998; //höchste gelieferte Frequenz
-const int llevel = 996; //niedrigste gelieferte Frequenz
-const int glevel = 255; //Grenzlevel für Ergebnis
-if (pulse > 100) { // nur Werte > 100 verwerten, andere sind Störung oder Sender off
-pulse = map(pulse, llevel, hlevel, -500, 500); // Ausgabewertebereich verschieben
-pulse = constrain(pulse, -glevel, glevel); // und jetzt noch begrenzen
-} else {
-pulse = 0; // keine sinnvollen Impulse
-}
-// Ruhezone einrichten
-if (abs(pulse) <= deadzone) {
-pulse = 0;
-}
-return pulse;
-}
-https://learn.adafruit.com/adafruit-motor-shield/af-dcmotor-class
-https://www.halloweenfreak.de/arduino/pdfs/motor_shield.pdf
-PWM Output Sketch
-Aus < https://dronebotworkshop.com/radio-control-arduino-car/>
-Arduino FS-I6X Demo
-C++
-/*
-  Arduino FS-I6X Demo
-  fsi6x-arduino-uno.ino
-  Read output ports from FS-IA6B receiver module
-  Display values on Serial Monitor
-  Channel functions by Ricardo Paiva - https://gist.github.com/werneckpaiva/
-  DroneBot Workshop 2021
-   https://dronebotworkshop.com
-*/
-// Define Input Connections
-#define CH1 3
-#define CH2 5
-#define CH3 6
-#define CH4 9
-#define CH5 10
-#define CH6 11
-// Integers to represent values from sticks and pots
-int ch1Value;
-int ch2Value;
-int ch3Value;
-int ch4Value;
-int ch5Value;
-// Boolean to represent switch value
-bool ch6Value;
-// Read the number of a specified channel and convert to the range provided.
-// If the channel is off, return the default value
-int readChannel(int channelInput, int minLimit, int maxLimit, int defaultValue){
-  int ch = pulseIn(channelInput, HIGH, 30000);
-  if (ch < 100) return defaultValue;
-  return map(ch, 1000, 2000, minLimit, maxLimit);
-}
-// Read the switch channel and return a boolean value
-bool readSwitch(byte channelInput, bool defaultValue){
-  int intDefaultValue = (defaultValue)? 100: 0;
-  int ch = readChannel(channelInput, 0, 100, intDefaultValue);
-  return (ch > 50);
-}
-void setup(){
-  // Set up serial monitor
-  Serial.begin(115200);
-  // Set all pins as inputs
-  pinMode(CH1, INPUT);
-  pinMode(CH2, INPUT);
-  pinMode(CH3, INPUT);
-  pinMode(CH4, INPUT);
-  pinMode(CH5, INPUT);
-  pinMode(CH6, INPUT);
-}
-void loop() {
-  // Get values for each channel
-  ch1Value = readChannel(CH1, -100, 100, 0);
-  ch2Value = readChannel(CH2, -100, 100, 0);
-  ch3Value = readChannel(CH3, -100, 100, -100);
-  ch4Value = readChannel(CH4, -100, 100, 0);
-  ch5Value = readChannel(CH5, -100, 100, 0);
-  ch6Value = readSwitch(CH6, false);
-  // Print to Serial Monitor
-  Serial.print("Ch1: ");
-  Serial.print(ch1Value);
-  Serial.print(" | Ch2: ");
-  Serial.print(ch2Value);
-  Serial.print(" | Ch3: ");
-  Serial.print(ch3Value);
-  Serial.print(" | Ch4: ");
-  Serial.print(ch4Value);
-  Serial.print(" | Ch5: ");
-  Serial.print(ch5Value);
-  Serial.print(" | Ch6: ");
-  Serial.println(ch6Value);
-  delay(500);
-}
-Aus < https://dronebotworkshop.com/radio-control-arduino-car/>
-Arduino Mega 2560 Hookup
-Aus < https://dronebotworkshop.com/radio-control-arduino-car/>
-Code
-The Code for the Arduino RC Car
-arduino
-Again, try to understand how it works!
-Aus < https://projecthub.arduino.cc/enriquelopezprojects/arduino-rc-car-with-flysky-fs-i6x-controller-and-receiver-35b7fb>
-{{.:pasted:20251228-094911.png}}