RP6 -- Ein Motor rückwärts?

[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