vielen dank Thorben, das von dir beschriebene ist eine andere funktion. Ich Suche ein entsprechendes pendant zu dem hier
was von der M32 aus aufgerufen werden kann.Code:void task_motionControl(void) { // Automatic motor overcurrent shutdown: if(overcurrent_timer >= 50) { // every 5ms overcurrent_timer = 0; if(!overcurrent_timeout) { if((adcMotorCurrentLeft > 770) || (adcMotorCurrentRight > 770)) { overcurrent_errors++; overcurrent_timeout = 10; mleft_power = 0; mright_power = 0; left_i = 0; right_i = 0; motion_status.overcurrent = true; return; } else motion_status.overcurrent = false; // Emergency shutdown if there are too many (default: 3) overcurrent // events within ~20 seconds (100 * 200ms). if(overcurrent_error_clear > 100) { overcurrent_errors = 0; overcurrent_error_clear = 0; } else if(overcurrent_errors > 2) emergencyShutdown(OVERCURRENT); } // Detect if one of the encoders or motors does not work properly and stop // all operations immediately if this is the case! if((adcMotorCurrentLeft < 150) && (mleft_speed == 0) && (mleft_des_speed != 0) && (mleft_ptmp > 150)) emergencyShutdown(ENCODER_MALFUNCTION_LEFT); if((adcMotorCurrentRight < 150) && (mright_speed == 0) && (mright_des_speed != 0) && (mright_ptmp > 150)) emergencyShutdown(ENCODER_MALFUNCTION_RIGHT); } // Motor Control if(motor_control) { // Everytime after the speed has been measured. (default: 200ms) if(!overcurrent_timeout) { // No overcurrent timeout? (default is to wait 2 seconds before new try) if(overcurrent_errors) // Overcurrent errors? overcurrent_error_clear++; // Yes, Timeout to clear all error events. else overcurrent_error_clear=0; // No, we set the timeout to zero. // Move Distance left: if(motion_status.move_R) { if(mleft_dist >= preStop_R) { // Stop a bit before the desired distance for .. mleft_des_speed = 0; // ... better accurancy. left_i = 0; mleft_power = 0; motion_status.move_R = false; } else if(mleft_dist >= preDecelerate_R) { // Start to decelerate? mleft_des_speed /= 2; if(mleft_des_speed < 22) mleft_des_speed = 22; } } // Move Distance right: if(motion_status.move_L) { if(mright_dist >= preStop_L) { // Stop a bit before the desired distance for .. mright_des_speed = 0; // ... better accurancy. right_i = 0; mright_power = 0; motion_status.move_L = false; } else if(mright_dist >= preDecelerate_L) { // Start to decelerate? mright_des_speed /= 2; if(mright_des_speed < 22) mright_des_speed = 22; } } // ---------------------------------------- // The following settings are for users that want to tune the behaviour // of the robot when changing direction --> make it faster or slower. // Carefully read the comments! // #define CHANGE_DIRECTION_SLOW // this is enabled by default when none of the other options is enabled. #define CHANGE_DIRECTION_MEDIUM // Standard, keep it like this if you do not know what you are doing! // Uncomment this if you want the Robot to change motor direction as fast as possible: //#define CHANGE_DIRECTION_FAST #ifdef CHANGE_DIRECTION_FAST // Change direction -- FAST Version. // This changes direction without any slowdown. // Only use this mode if you need it as this will reduce // lifetime of the motors and gears. if(mleft_des_dir != mleft_dir || mright_des_dir != mright_dir) { mright_ptmp = 0; mleft_ptmp = 0; mright_power=0; mleft_power=0; TCCR1A = 0; setMotorDir(mleft_des_dir,mright_des_dir); } #else #ifdef CHANGE_DIRECTION_MEDIUM // Change direction -- Medium Version. // This stops before changing the motor direction but is a bit faster // than the original version. if(mleft_des_dir != mleft_dir || mright_des_dir != mright_dir) { if(mleft_des_speed || mright_des_speed) { mleft_des_speed_tmp = mleft_des_speed; // store current speed mright_des_speed_tmp = mright_des_speed; mleft_des_speed = 0; mright_des_speed = 0; mright_power=0; // Soft PWM adjust to 0 mleft_power=0; left_i = 0; right_i = 0; } if(!TCCR1A) { setMotorDir(mleft_des_dir,mright_des_dir); mleft_des_speed = mleft_des_speed_tmp; mright_des_speed = mright_des_speed_tmp; left_i = mleft_des_speed / 2; right_i = mright_des_speed / 2; } } #else // Change direction -- slow Version from the original library. // Slowdown and stop before changing direction // to improve gears and motors lifetime. // This variant was the original Version, the current library has // medium enabled by default. if(mleft_des_dir != mleft_dir || mright_des_dir != mright_dir) { if(mleft_des_speed || mright_des_speed) { mleft_des_speed_tmp = mleft_des_speed; // store current speed mright_des_speed_tmp = mright_des_speed; mleft_des_speed = 0; mright_des_speed = 0; left_i /= 2; right_i /= 2; } if(mright_speed <= 40 && mleft_speed <= 40) { mright_power=0; // Soft PWM adjust to 0 mleft_power=0; } 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; } } #endif #endif // Left motor speed control: int16_t error_left = mleft_des_speed - mleft_speed; left_i = left_i + error_left; if(left_i > MC_LEFT_IMAX) left_i = MC_LEFT_IMAX; if(left_i < MC_LEFT_IMIN) left_i = MC_LEFT_IMIN; if(mleft_speed == 0 && mleft_des_speed == 0) left_i = 0; mleft_power = left_i / 2; if(mleft_power > 210) mleft_power = 210; if(mleft_power < 0) mleft_power = 0; // Right motor speed control: int16_t error_right = mright_des_speed - mright_speed; right_i = right_i + error_right; if(right_i > MC_RIGHT_IMAX) right_i = MC_RIGHT_IMAX; if(right_i < MC_RIGHT_IMIN) right_i = MC_RIGHT_IMIN; if(mright_speed == 0 && mright_des_speed == 0) right_i = 0; mright_power = right_i / 2; if(mright_power > 210) mright_power = 210; if(mright_power < 0) mright_power = 0; } else overcurrent_timeout--; motor_control = false; } // Call event handlers if necessary: if(motion_status_tmp != motion_status.byte) { motion_status_tmp = motion_status.byte; MOTIONCONTROL_stateChangedHandler(); } } /** * This function sets the desired speed value. * The rest is done automatically. The speed is regulated to this speed value * independent of Battery voltage, surface, weight of the robot and other things. * * You need to call task_motorSpeedControl(); frequently out of the main loop! * otherwise this function will not work! * Or use task_RP6System which includes this call. * * The function limits maximum speed to 200! This has been done because the maximum * possible speed gets lower over time due to battery discharging (--> voltage drop). * And the gears and motors will live longer if you don't stress them that much. * * Also 200 leaves a bit room to the maximum possible PWM value when you * put additional load onto the Robot or drive up a ramp etc. * */
Hat sich echt niemand mit den move/rotate und ähnlichen befehlen/funktionen und deren ausführung von der M32 aus beschäftigt?
Oder liegt das problem woanders?
Zitieren
Lesezeichen