RP6 -- Ein Motor rückwärts?

[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]

"ich benutze die M32." Aua

Klappt setMotorDir nicht mit der M32?

[radbruch]

Ne, das klappt nicht. Ich hab's mal eingebaut, allerdings ungetestet und deshalb ohne Gewähr:

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

void 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(dir_left, dir_right); // neue Funktion
}

int main(void)
{
	initRP6Control();
	moveAtSpeed3(150,150,1,0);
	while(1)
	{
	}
	return 0;
}

Dazu muss man allerdings einen neuen Befehl einbauen in RP6Base_I2CSlave.c, RP6Control_I2CMasterLib.c und RP6Control_I2CMasterLib.h und eine neue Hex-Datei für den RP6 erzeugen.

[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"