fahrzeug mit vier motoren und vier encodern

**inka** · 18.11.2015, 17:58

hi,

ich habe jetzt die ausgabe routine so abgeändert:

Code:

// Ticks und Strecke ausgeben
    static const int wtime = 250;
    if(log_time + wtime <= millis() ) 
    {
      String out_s = String("");
      out_s += millis(); out_s += ": ";

      for(uint8_t idx = M_VL; idx < M_MAX; idx++) 
      {
        out_s += idx; out_s += " ";
        out_s += motoren[idx].ticks; out_s += " ";  // Hier koennte jetzt ein Interrupt unterbrechen!
        out_s += motor_strecke_gefahren(idx);

        ticks_tmp = 0;
        motor_ticks_per_milli(idx, &ticks_tmp);
        out_s += " "; out_s += ticks_tmp;

        if(idx == M_MAX - 1)
          out_s += "\n";
        else
          out_s += ", ";
      }

      for(uint8_t idx = 0; idx < M_MAX; idx++)
        all_ticks_tmp[idx] = 0;
        
      motor_ticks_per_milli_fuer_alle(all_ticks_tmp, M_MAX);

      for(uint8_t idx; idx < M_MAX; idx++)
        out_s += all_ticks_tmp[idx]; out_s += " ";

      Serial.print(out_s);

      log_time = wtime + millis();
    }

das ist die ausgabe:

Code:

250 293.03 0, 1 418 229.81 0, 2 494 271.59 0, 3 396 217.71 0
 210.57 0, 1 282 155.04 0, 2 355 195.17 0, 3 260 142.94 0
 3762: 0 533 293.03 0, 1 418 229.81 0, 2 494 271.59 0, 3 396 217.71 0
 250: 0 33 18.14 0, 1 16 8.80 0, 2 24 13.19 0, 3 17 9.35 0
 752: 0 172 94.56 0, 1 109 59.93 0, 2 144 79.17 0, 3 88 48.38 0
 1254: 0 324 178.13 0, 1 231 127.00 0, 2 280 153.94 0, 3 206 113.25 0
 1756: 0 477 262.24 0, 1 364 200.12 0, 2 415 228.16 0, 3 340 186.92 0
 2258: 0 630 346.36 0, 1 506 278.19 0, 2 558 306.78 0, 3 483 265.54 0
 2760: 0 783 430.48 0, 1 654 359.56 0, 2 698 383.75 0, 3 632 347.46 0
 3262: 0 937 515.14 0, 1 801 440.37 0, 2 839 461.26 0, 3 781 429.38 0
 3764: 0 1088 598.16 0, 1 951 522.84 0, 2 982 539.88 0, 3 933 512.94 0
 4267: 0 1239 681.18 0, 1 1102 605.86 0, 2 1126 619.05 0, 3 1083 595.41 0
 4769: 0 1394 766.39 0, 1 1257 692.17 0, 2 1266 696.02 0, 3 1231 676.78 0
 5271: 0 1541 847.21 0, 1 1410 775.19 0, 2 1409 774.64 0, 3 1377 757.05 0
 5773: 0 1693 930.78 0, 1 1569 862.60 0, 2 1550 852.16 0, 3 1526 838.96 0
 6275: 0 1849 1016.54 0, 1 1726 948.92 0, 2 1693 930.78 0, 3 1672 919.23 0
 6777: 0 1997 1097.91 0, 1 1881 1034.13 0, 2 1832 1007.19 0, 3 1827 1004.45 0
 7280: 0 2146 1179.83 0, 1 2035 1118.80 0, 2 1972 1084.16 0, 3 1976 1086.36 0
 7783: 0 2295 1261.74 0, 1 2192 1205.11 0, 2 2114 1162.23 0, 3 2127 1169.38 0
 8286: 0 2448 1345.86 0, 1 2348 1290.88 0, 2 2255 1239.75 0, 3 2279 1252.95 0
 8790: 0 2603 1431.07 0, 1 2514 1382.14 0, 2 2400 1319.47 0, 3 2430 1335.96 0
 9293: 0 2755 1514.64 0, 1 2671 1468.46 0, 2 2540 1396.44 0, 3 2577 1416.78 0
 9796: 0 2905 1597.11 0, 1 2828 1554.77 0, 2 2681 1473.96 0, 3 2729 1500.35 0
 10299: 0 3060 1682.32 0, 1 2986 1641.64 0, 2 2821 1550.93 0, 3 2880 1583.36 0
 10802: 0 3209 1764.24 0, 1 3148 1730.70 0, 2 2964 1629.54 0, 3 3031 1666.38 0
 11305: 0 3363 1848.91 0, 1 3312 1820.87 0, 2 3107 1708.16 0, 3 3180 1748.30 0
 11809: 0 3516 1933.02 0, 1 3474 1909.93 0, 2 3253 1788.43 0, 3 3330 1830.76 0
 12312: 0 3670 2017.69 0, 1 3638 2000.10 0, 2 3396 1867.05 0, 3 3478 1912.13 0
 12815: 0 3827 2104.00 0, 1 3796 2086.96 0, 2 3539 1945.67 0, 3 3629 1995.15 0
 13318: 0 3978 2187.02 0, 1 3959 2176.57 0, 2 3682 2024.29 0, 3 3784 2080.36 0
 13821: 0 4131 2271.14 0, 1 4127 2268.94 0, 2 3826 2103.45 0, 3 3932 2161.73 0
 14325: 0 4284 2355.25 0, 1 4295 2361.30 0, 2 3971 2183.17 0, 3 4086 2246.40 0
 14828: 0 4436 2438.82 0, 1 4458 2450.91 0, 2 4118 2263.99 0, 3 4238 2329.96 0
 15331: 0 4590 2523.48 0, 1 4624 2542.18 0, 2 4260 2342.06 0, 3 4389 2412.98 0
 15834: 0 4738 2604.85 0, 1 4789 2632.89 0, 2 4406 2422.33 0, 3 4543 2497.65 0
 16337: 0 4872 2678.52 0, 1 4940 2715.91 0, 2 4528 2489.40 0, 3 4682 2574.06 0
 16840: 0 4910 2699.41 0, 1 5006 2752.19 0, 2 4555 2504.24 0, 3 4744 2608.15 0
 17343: 0 4927 2708.76 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4771 2622.99 0
 17846: 0 4944 2718.11 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 18349: 0 4962 2728.00 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 18852: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 19355: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 19858: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 20361: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 20864: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 21367: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 21870: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 22373: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 22876: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 23379: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 23883: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 24386: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 24889: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 25392: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 25895: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 26399: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 26902: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 27405: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 27908: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 28411: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 28914: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 29417: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 29920: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 30423: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 30926: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 31429: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 31932: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 32435: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 32939: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 33442: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 33945: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 34448: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 34951: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 35454: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 35958: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 36461: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 36964: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 37467: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 37970: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 38474: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 38977: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 39480: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 39983: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 40486: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 40989: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 41492: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 41995: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 42498: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 43001: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 43504: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 44007: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0
 44510: 0 4970 2732.40 0, 1 5015 2757.14 0, 2 4555 2504.24 0, 3 4781 2628.49 0

ich weiss jetzt noch nicht genau was was ist, entspricht das in etwa dem, was herauskommen sollte?