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Nibo (Vers. 1) Tutorial K7
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Nibo (Ver...torial K7
main.c
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NiboRoboLib 3.6
2017-01-17: Neue Version 3.6
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nibo1_tutorial_k7/main.c [read only]
#include <nibo/niboconfig.h> #include <nibo/display.h> #include <nibo/gfx.h> #include <nibo/irco.h> #include <nibo/delay.h> #include <nibo/iodefs.h> #include <nibo/adc.h> #include <nibo/bot.h> #include <avr/interrupt.h> #include <nibo/i2cmaster.h> #include <nibo/floor.h> #include <stdio.h> uint16_t value_off[4]; uint16_t value_on[4]; void measure_ground() { floor_disable_ir(); delay(1); floor_update(); value_off[0] = floor_r; value_off[1] = line_r; value_off[2] = line_l; value_off[3] = floor_r; floor_enable_ir(); delay(1); floor_update(); value_on[0] = floor_r; value_on[1] = line_r; value_on[2] = line_l; value_on[3] = floor_l; floor_disable_ir(); } uint8_t diff_ground(int16_t val) { if(val>255) val=255; if (val<0) val=0; return val; } int main() { sei(); bot_init(); i2c_init(); floor_init(); display_init(); gfx_init(); gfx_move(62, 0); gfx_set_proportional(1); gfx_print_text("nibo test"); gfx_set_proportional(0); gfx_move(5, 0); gfx_print_char('R'); gfx_move(118, 0); gfx_print_char('L'); delay(50); irco_startMeasure(); while (1==1) { delay(10); char text[20]="-- -- -- -- --"; // IR Controller if (irco_update()) { sprintf(text, "%02x %02x %02x %02x %02x", (int)irco_distance[0], (int)irco_distance[1], (int)irco_distance[2], (int)irco_distance[3], (int)irco_distance[4]); } gfx_move(10, 55); gfx_print_text(text); // Bodensensoren measure_ground(); sprintf(text, "%02x %02x %02x %02x", (int)(value_on[0]/4), (int)(value_on[1]/4), (int)(value_on[2]/4), (int)(value_on[3]/4)); gfx_move(22, 30); gfx_print_text(text); sprintf(text, "%02x %02x %02x %02x", (int)(diff_ground(value_on[0]-value_off[0])), (int)(diff_ground(value_on[1]-value_off[1])), (int)(diff_ground(value_on[2]-value_off[2])), (int)(diff_ground(value_on[3]-value_off[3]))); gfx_move(22, 40); gfx_print_text(text); // Spannung bot_update(); float volt = 0.0166 * bot_supply - 1.19; sprintf(text, "%3.1fV", (double)volt); gfx_move(25, 0); gfx_print_text(text); } return 0; }
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