Hallo ,

ich bin Anfanger und habe ein Nibobee. Damit möchte ich ein 1w Led steuern (wenn nibobee lauft gerade dann beleuchtet Led immer, wenn links oder Rechts lauft dann blinkt, ich habe ein Mosfetschaltung dazu gemacht und möchte x4 port benutzen.

ich möchte dieses Programm dazu ändern, aber ich brauche Ihre Hilfe!!



/*
* Mit diesem Programm kann der NIBObee umherfahren. Wenn mit den Fühlern
* Hindernisse detektiert werden, versucht der NIBObee diesen auszuweichen.
*/


#include <nibobee/iodefs.h>
#include <nibobee/motpwm.h>
#include <nibobee/delay.h>
#include <nibobee/sens.h>

enum {
MODE_STOP,
MODE_DRIVE,
MODE_BACK,
MODE_STEER_R,
MODE_STEER_L,
MODE_AVOID_R,
MODE_AVOID_L
};

int16_t speed_l;
int16_t speed_r;
uint16_t counter_ms;


uint8_t perform_check(uint8_t mode);

uint8_t do_stop();
uint8_t do_drive();
uint8_t do_back();
uint8_t do_steer_r();
uint8_t do_steer_l();
uint8_t do_avoid_r();
uint8_t do_avoid_l();


int main() {
motpwm_init();
sens_init();
uint8_t mode;

while(1==1) {
enable_interrupts();
delay(1);

mode = perform_check(mode);

switch (mode) {
case MODE_STOP: mode = do_stop(); break;
case MODE_DRIVE: mode = do_drive(); break;
case MODE_BACK: mode = do_back(); break;
case MODE_STEER_R: mode = do_steer_r(); break;
case MODE_STEER_L: mode = do_steer_l(); break;
case MODE_AVOID_R: mode = do_avoid_r(); break;
case MODE_AVOID_L: mode = do_avoid_l(); break;
}

switch (mode) {
case MODE_STOP: speed_l = 0; speed_r = 0; break;
case MODE_DRIVE: speed_l = 500; speed_r = 500; break;
case MODE_BACK: speed_l = -500; speed_r = -500; break;
case MODE_STEER_R: speed_l = 600; speed_r = 400; break;
case MODE_STEER_L: speed_l = 400; speed_r = 600; break;
case MODE_AVOID_R: speed_l = -400; speed_r = -600; break;
case MODE_AVOID_L: speed_l = -600; speed_r = -400; break;
}

motpwm_setLeft(speed_l);
motpwm_setRight(speed_r);
}
return 0;
}

uint8_t perform_check(uint8_t mode) {
if (sens_getLeft() && sens_getRight()) {
if ((sens_getLeft()==-1) && (sens_getRight()==-1)) {
mode = MODE_BACK;
} else {
mode = MODE_STOP;
}
}
return mode;
}


uint8_t do_stop() {
if ((sens_getLeft()==0) && (sens_getRight()==0)) {
return MODE_DRIVE;
}
return MODE_STOP;
}

uint8_t do_back() {
if (sens_getLeft()==0) {
return MODE_AVOID_L;
}
if (sens_getRight()==0) {
return MODE_AVOID_R;
}
return MODE_BACK;
}

uint8_t do_drive() {
if (sens_getRight()==1) {
return MODE_STEER_L;
}
if (sens_getLeft()==1) {
return MODE_STEER_R;
}
if (sens_getRight()==-1) {
return MODE_AVOID_L;
}
if (sens_getLeft()==-1) {
return MODE_AVOID_R;
}
return MODE_DRIVE;
}

uint8_t do_steer_r() {
if (sens_getLeft()==0) {
return MODE_DRIVE;
}
return MODE_STEER_R;
}

uint8_t do_steer_l() {
if (sens_getRight()==0) {
return MODE_DRIVE;
}
return MODE_STEER_L;
}

uint8_t do_avoid_r() {
if (counter_ms==0) {
counter_ms=1000;
} else {
counter_ms--;
}
if (counter_ms) {
return MODE_AVOID_R;
} else {
return MODE_DRIVE;
}
}

uint8_t do_avoid_l() {
if (counter_ms==0) {
counter_ms=1000;
} else {
counter_ms--;
}
if (counter_ms) {
return MODE_AVOID_L;
} else {
return MODE_DRIVE;
}
}