M32 - verhaltensgesteuerter Roboter + TV Fernsteuerung

[Dirk]

Hallo V:X,

Weitere Tips und Anregungen sind aber immernoch erwünscht

Noch mehr?
Hier z.B. das Verhalten "RC5 Empfang":

/*****************************************************************************/
// RC5 Reception Behaviour:

// The TV Remote Control definitions

// ###########################
// Uncomment __one__ (only one!) of the following definitions:
//#define RC_EURO_SKY
//#define RC_PROMO8
#define RC_TOTAL_CONTROL
//#define RC_YOUR_OWN
// ...

// ###########################
// Change the keymapping here:

#ifdef RC_EUROSKY		// RC Type:  Conrad - EuroSky	
	#define RC5_KEY_LEFT 				22		
	#define RC5_KEY_RIGHT 				21		
	#define RC5_KEY_FORWARDS 			16  	
	#define RC5_KEY_BACKWARDS 			17		
	#define RC5_KEY_STOP 				23		
	#define RC5_KEY_CURVE_LEFT 			1	
	#define RC5_KEY_CURVE_RIGHT 		3	
	#define RC5_KEY_CURVE_BACK_LEFT 	7	
	#define RC5_KEY_CURVE_BACK_RIGHT 	9	
	#define RC5_KEY_LEFT_MOTOR_FWD 		1
	#define RC5_KEY_LEFT_MOTOR_BWD 		7
	#define RC5_KEY_RIGHT_MOTOR_FWD 	3
	#define RC5_KEY_RIGHT_MOTOR_BWD 	9
	#define RC5_KEY_CONTROL_START	 	?
	#define RC5_KEY_CONTROL_END		 	?
#endif

#ifdef RC_PROMO8		// RC Type:  Conrad - Promo8			
	#define RC5_KEY_LEFT 				21		
	#define RC5_KEY_RIGHT 				22		
	#define RC5_KEY_FORWARDS 			32  	
	#define RC5_KEY_BACKWARDS 			33		
	#define RC5_KEY_STOP 				11	
	#define RC5_KEY_CURVE_LEFT 			29	
	#define RC5_KEY_CURVE_RIGHT 		13	
	#define RC5_KEY_CURVE_BACK_LEFT 	10	
	#define RC5_KEY_CURVE_BACK_RIGHT 	62		
	#define RC5_KEY_LEFT_MOTOR_FWD 		1
	#define RC5_KEY_LEFT_MOTOR_BWD 		7
	#define RC5_KEY_RIGHT_MOTOR_FWD 	3
	#define RC5_KEY_RIGHT_MOTOR_BWD 	9
	#define RC5_KEY_CONTROL_START	 	?
	#define RC5_KEY_CONTROL_END		 	?
#endif

#ifdef RC_TOTAL_CONTROL	// RC Type:  Conrad - TOTAL control			
	#define RC5_KEY_LEFT 				4		// 4
	#define RC5_KEY_RIGHT 				6		// 6
	#define RC5_KEY_FORWARDS 			2  		// 2
	#define RC5_KEY_BACKWARDS 			8		// 8
	#define RC5_KEY_STOP 				5		// 5
	#define RC5_KEY_CURVE_LEFT 			32		// P+
	#define RC5_KEY_CURVE_RIGHT 		16		// L+
	#define RC5_KEY_CURVE_BACK_LEFT 	33		// P-
	#define RC5_KEY_CURVE_BACK_RIGHT 	17		// L-
	#define RC5_KEY_LEFT_MOTOR_FWD 		1		// 1
	#define RC5_KEY_LEFT_MOTOR_BWD 		7		// 7
	#define RC5_KEY_RIGHT_MOTOR_FWD 	3		// 3
	#define RC5_KEY_RIGHT_MOTOR_BWD 	9		// 9
	#define RC5_KEY_CONTROL_START	 	23		// ENTER
	#define RC5_KEY_CONTROL_END		 	0		// 0
#endif

#ifdef RC_YOUR_OWN		// Your own RC!
	#define RC5_KEY_LEFT 				4		
	#define RC5_KEY_RIGHT 				6		
	#define RC5_KEY_FORWARDS 			2  	
	#define RC5_KEY_BACKWARDS 			8		
	#define RC5_KEY_STOP 				5		
	#define RC5_KEY_CURVE_LEFT 			1	
	#define RC5_KEY_CURVE_RIGHT 		3	
	#define RC5_KEY_CURVE_BACK_LEFT 	7	
	#define RC5_KEY_CURVE_BACK_RIGHT 	9		
	#define RC5_KEY_LEFT_MOTOR_FWD		10
	#define RC5_KEY_LEFT_MOTOR_BWD 		11
	#define RC5_KEY_RIGHT_MOTOR_FWD 	12
	#define RC5_KEY_RIGHT_MOTOR_BWD 	13
	#define RC5_KEY_CONTROL_START	 	?
	#define RC5_KEY_CONTROL_END		 	?
#endif

//... you can add more Remote control keymappings or implement something
// better than this if you like...


#define RC5RECEPTION_MOVE 1
behaviour_command_t rc5Reception = {0, 0, FWD, false, false, 0, IDLE}; 

/**
 * Behaviour with RC5 Reception.
 */
void behaviour_rc5Reception(void)
{
}

#define RC5RECEPTION_SPEED_ROTATE 			60
#define RC5RECEPTION_SPEED_MAX				80
#define RC5RECEPTION_SPEED_L_ARC_LEFT 		20
#define RC5RECEPTION_SPEED_L_ARC_RIGHT 		80
#define RC5RECEPTION_SPEED_R_ARC_LEFT 		80
#define RC5RECEPTION_SPEED_R_ARC_RIGHT 		20

/**
 * RC5 Event Handler 
 */
void receiveRC5Data(RC5data_t rc5data)
{
	// Check which key is pressed:
	switch(rc5data.key_code)
	{
		case RC5_KEY_LEFT: 	 		// Turn left:
			rc5Reception.speed_left = RC5RECEPTION_SPEED_ROTATE;
			rc5Reception.speed_right = 0;
			rc5Reception.dir = LEFT;
			rc5Reception.move = false;
			rc5Reception.rotate = true;
			rc5Reception.move_value = 100;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_RIGHT: 		// Turn right:
			rc5Reception.speed_left = RC5RECEPTION_SPEED_ROTATE;
			rc5Reception.speed_right = 0;
			rc5Reception.dir = RIGHT;
			rc5Reception.move = false;
			rc5Reception.rotate = true;
			rc5Reception.move_value = 100;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_FORWARDS: 		// Move forwards
			rc5Reception.speed_left = RC5RECEPTION_SPEED_MAX;
			rc5Reception.speed_right = RC5RECEPTION_SPEED_MAX;
			rc5Reception.dir = FWD;
			rc5Reception.move = true;
			rc5Reception.rotate = false;
			rc5Reception.move_value = 100;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_BACKWARDS: 	// Move backwards
			rc5Reception.speed_left = RC5RECEPTION_SPEED_MAX;
			rc5Reception.speed_right = RC5RECEPTION_SPEED_MAX;
			rc5Reception.dir = BWD;
			rc5Reception.move = true;
			rc5Reception.rotate = false;
			rc5Reception.move_value = 100;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_STOP: 			// Stop!
			rc5Reception.speed_left = 0;
			rc5Reception.speed_right = 0;
			rc5Reception.dir = FWD;
			rc5Reception.move = false;
			rc5Reception.rotate = false;
			rc5Reception.move_value = 0;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_CURVE_LEFT: 	// Drive curve left - forwards
			rc5Reception.speed_left = RC5RECEPTION_SPEED_L_ARC_LEFT;
			rc5Reception.speed_right = RC5RECEPTION_SPEED_L_ARC_RIGHT;
			rc5Reception.dir = FWD;
			rc5Reception.move = true;
			rc5Reception.rotate = false;
			rc5Reception.move_value = 100;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_CURVE_RIGHT: 	// Drive curve right - forwards
			rc5Reception.speed_left = RC5RECEPTION_SPEED_R_ARC_LEFT;
			rc5Reception.speed_right = RC5RECEPTION_SPEED_R_ARC_RIGHT;
			rc5Reception.dir = FWD;
			rc5Reception.move = true;
			rc5Reception.rotate = false;
			rc5Reception.move_value = 100;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_CURVE_BACK_LEFT: 	// Drive curve left - backwards
			rc5Reception.speed_left = RC5RECEPTION_SPEED_L_ARC_LEFT;
			rc5Reception.speed_right = RC5RECEPTION_SPEED_L_ARC_RIGHT;
			rc5Reception.dir = BWD;
			rc5Reception.move = true;
			rc5Reception.rotate = false;
			rc5Reception.move_value = 100;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_CURVE_BACK_RIGHT: 	// Drive curve right - backwards
			rc5Reception.speed_left = RC5RECEPTION_SPEED_R_ARC_LEFT;
			rc5Reception.speed_right = RC5RECEPTION_SPEED_R_ARC_RIGHT;
			rc5Reception.dir = BWD;
			rc5Reception.move = true;
			rc5Reception.rotate = false;
			rc5Reception.move_value = 100;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_LEFT_MOTOR_FWD: 	// Only left motor on - forwards
			rc5Reception.speed_left = RC5RECEPTION_SPEED_MAX;
			rc5Reception.speed_right = 0;
			rc5Reception.dir = FWD;
			rc5Reception.move = true;
			rc5Reception.rotate = false;
			rc5Reception.move_value = 100;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_LEFT_MOTOR_BWD: 	// Only left motor on - backwards
			rc5Reception.speed_left = RC5RECEPTION_SPEED_MAX;
			rc5Reception.speed_right = 0;
			rc5Reception.dir = BWD;
			rc5Reception.move = true;
			rc5Reception.rotate = false;
			rc5Reception.move_value = 100;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_RIGHT_MOTOR_FWD: // Only right motor on - forwards
			rc5Reception.speed_left = 0;
			rc5Reception.speed_right = RC5RECEPTION_SPEED_MAX;
			rc5Reception.dir = FWD;
			rc5Reception.move = true;
			rc5Reception.rotate = false;
			rc5Reception.move_value = 100;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_RIGHT_MOTOR_BWD: 	// Only right motor on - backwards
			rc5Reception.speed_left = 0;
			rc5Reception.speed_right = RC5RECEPTION_SPEED_MAX;
			rc5Reception.dir = BWD;
			rc5Reception.move = true;
			rc5Reception.rotate = false;
			rc5Reception.move_value = 100;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_CONTROL_START:		// Start of the RC5 control mode
			rc5Reception.speed_left = 0;
			rc5Reception.speed_right = 0;
			rc5Reception.dir = FWD;
			rc5Reception.move = false;
			rc5Reception.rotate = false;
			rc5Reception.move_value = 0;
			rc5Reception.state = RC5RECEPTION_MOVE;
		break;
		case RC5_KEY_CONTROL_END:		// End of the RC5 control mode
			rc5Reception.speed_left = 0;
			rc5Reception.speed_right = 0;
			rc5Reception.dir = FWD;
			rc5Reception.move = false;
			rc5Reception.rotate = false;
			rc5Reception.move_value = 0;
			rc5Reception.state = IDLE;
		break;
	}

	if(rc5Reception.state == RC5RECEPTION_MOVE)
	{
		if(getStopwatch2() > 500)
		{
			clearPosLCD(1, 0, 13);
			setCursorPosLCD(1, 0); 
			// Display the received data:
			writeStringLCD_P("RC5 ");
			writeCharLCD(rc5data.toggle_bit + '0');
			writeStringLCD_P(" |");
			writeIntegerLCD(rc5data.device, DEC);
			writeStringLCD_P(" |");
			writeIntegerLCD(rc5data.key_code, DEC);
			setStopwatch2(0);
		}
	}
}

/*****************************************************************************/

Gruß Dirk