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callibrate funktion v1

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LinoSchmidt
2022-01-13 20:54:57 +01:00
parent 463829e10d
commit 0b19722d78
1 changed files with 155 additions and 20 deletions
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175
Firmware 2.0/src/main.cpp
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@@ -37,14 +37,6 @@
#define joystick_RY_Pin 3
#define joystick_button_Pin 8
#define joystick_LX_middle 511
#define joystick_LY_middle 511
#define joystick_RX_middle 511
#define joystick_RY_middle 511
#define joystickMax 1023
#define joystickMin 0
#define joystick_Empfindlichkeit 2
#define joystick_MaxSpeed 10
#define joystick_MinSpeed 1
@@ -60,6 +52,22 @@
#define Buzzer_CalibrationHGIH 2
#define Buzzer_CalibrationLOW 1
#define Buzzer_ShortTon 1
#define Buzzer_ShortTone_Time 50
//EEPROM
#define EEPROM_Code 6182032
#define EEPROM_joystick_LX_middle 1
#define EEPROM_joystick_LY_middle 2
#define EEPROM_joystick_RX_middle 3
#define EEPROM_joystick_RY_middle 4
#define EEPROM_joystick_LX_max 5
#define EEPROM_joystick_LY_max 6
#define EEPROM_joystick_RX_max 7
#define EEPROM_joystick_RY_max 8
#define EEPROM_joystick_LX_min 9
#define EEPROM_joystick_LY_min 10
#define EEPROM_joystick_RX_min 11
#define EEPROM_joystick_RY_min 12
//------------------------------------------------------------------
//------------------------------------------------------------------
@@ -69,20 +77,16 @@
Servo Drehung, Arm, Oberarm, Hand;
int joystick_LX, joystick_LY, joystick_RX, joystick_RY;
int joystick_LX_middle, joystick_LY_middle, joystick_RX_middle, joystick_RY_middle;
int joystick_LX_max, joystick_LY_max, joystick_RX_max, joystick_RY_max;
int joystick_LX_min, joystick_LY_min, joystick_RX_min, joystick_RY_min;
int DrehungPos = Drehung_Start, ArmPos = Arm_Start, OberarmPos = Oberarm_Start, HandPos = Hand_Start;
int offtime = 0;
bool detached = true;
int eeprom;
void setup(){
Serial.begin(9600);
pinMode(joystick_button_Pin, INPUT_PULLUP);
}
void calibrate(){
tone(BuzzerPin, Buzzer_CalibrationHGIH);
for(int loT = Buzzer_CalibrationHGIH; loT > Buzzer_CalibrationLOW; loT--){
@@ -90,6 +94,137 @@ void calibrate(){
delay(Calibration_TimeToMiddle / (Buzzer_CalibrationHGIH - Buzzer_CalibrationLOW));
}
int joystick_LX_middle_r1 = analogRead(joystick_LX_Pin);
delay(1);
int joystick_LX_middle_r2 = analogRead(joystick_LX_Pin);
delay(1);
int joystick_LX_middle_r3 = analogRead(joystick_LX_Pin);
delay(1);
int joystick_LX_middle_r4 = analogRead(joystick_LX_Pin);
delay(1);
int joystick_LX_middle_r5 = analogRead(joystick_LX_Pin);
int joystick_LX_middle_av = (joystick_LX_middle_r1 + joystick_LX_middle_r2 + joystick_LX_middle_r3 + joystick_LX_middle_r4 + joystick_LX_middle_r5) / 5;
int joystick_LY_middle_r1 = analogRead(joystick_LY_Pin);
delay(1);
int joystick_LY_middle_r2 = analogRead(joystick_LY_Pin);
delay(1);
int joystick_LY_middle_r3 = analogRead(joystick_LY_Pin);
delay(1);
int joystick_LY_middle_r4 = analogRead(joystick_LY_Pin);
delay(1);
int joystick_LY_middle_r5 = analogRead(joystick_LY_Pin);
int joystick_LY_middle_av = (joystick_LY_middle_r1 + joystick_LY_middle_r2 + joystick_LY_middle_r3 + joystick_LY_middle_r4 + joystick_LY_middle_r5) / 5;
int joystick_RX_middle_r1 = analogRead(joystick_RX_Pin);
delay(1);
int joystick_RX_middle_r2 = analogRead(joystick_RX_Pin);
delay(1);
int joystick_RX_middle_r3 = analogRead(joystick_RX_Pin);
delay(1);
int joystick_RX_middle_r4 = analogRead(joystick_RX_Pin);
delay(1);
int joystick_RX_middle_r5 = analogRead(joystick_RX_Pin);
int joystick_RX_middle_av = (joystick_RX_middle_r1 + joystick_RX_middle_r2 + joystick_RX_middle_r3 + joystick_RX_middle_r4 + joystick_RX_middle_r5) / 5;
int joystick_RY_middle_r1 = analogRead(joystick_RY_Pin);
delay(1);
int joystick_RY_middle_r2 = analogRead(joystick_RY_Pin);
delay(1);
int joystick_RY_middle_r3 = analogRead(joystick_RY_Pin);
delay(1);
int joystick_RY_middle_r4 = analogRead(joystick_RY_Pin);
delay(1);
int joystick_RY_middle_r5 = analogRead(joystick_RY_Pin);
int joystick_RY_middle_av = (joystick_RY_middle_r1 + joystick_RY_middle_r2 + joystick_RY_middle_r3 + joystick_RY_middle_r4 + joystick_RY_middle_r5) / 5;
EEPROM.put(EEPROM_joystick_LX_middle, joystick_LX_middle_av);
EEPROM.put(EEPROM_joystick_LY_middle, joystick_LY_middle_av);
EEPROM.put(EEPROM_joystick_RX_middle, joystick_RX_middle_av);
EEPROM.put(EEPROM_joystick_RY_middle, joystick_RY_middle_av);
joystick_LX_middle = joystick_LX_middle_av;
joystick_LY_middle = joystick_LY_middle_av;
joystick_RX_middle = joystick_RX_middle_av;
joystick_RY_middle = joystick_RY_middle_av;
tone(BuzzerPin, Buzzer_ShortTon);
delay(Buzzer_ShortTone_Time);
noTone(BuzzerPin);
joystick_LX_max = joystick_LX_middle_av;
joystick_LY_max = joystick_LY_middle_av;
joystick_RX_max = joystick_RX_middle_av;
joystick_RY_max = joystick_RY_middle_av;
joystick_LX_min = joystick_LX_middle_av;
joystick_LY_min = joystick_LY_middle_av;
joystick_RX_min = joystick_RX_middle_av;
joystick_RY_min = joystick_RY_middle_av;
while(digitalRead(joystick_button_Pin) == HIGH){
int joystick_LX_rout = analogRead(joystick_LX_Pin);
int joystick_LY_rout = analogRead(joystick_LY_Pin);
int joystick_RX_rout = analogRead(joystick_RX_Pin);
int joystick_RY_rout = analogRead(joystick_RY_Pin);
if(joystick_LX_rout > joystick_LX_max)joystick_LX_max = joystick_LX_rout;
if(joystick_LY_rout > joystick_LY_max)joystick_LY_max = joystick_LY_rout;
if(joystick_RX_rout > joystick_RX_max)joystick_RX_max = joystick_RX_rout;
if(joystick_RY_rout > joystick_RY_max)joystick_RY_max = joystick_RY_rout;
if(joystick_LX_rout < joystick_LX_min)joystick_LX_min = joystick_LX_rout;
if(joystick_LY_rout < joystick_LY_min)joystick_LY_min = joystick_LY_rout;
if(joystick_RX_rout < joystick_RX_min)joystick_RX_min = joystick_RX_rout;
if(joystick_RY_rout < joystick_RY_min)joystick_RY_min = joystick_RY_rout;
delay(1);
}
EEPROM.put(EEPROM_joystick_LX_max, joystick_LX_max);
EEPROM.put(EEPROM_joystick_LY_max, joystick_LY_max);
EEPROM.put(EEPROM_joystick_RX_max, joystick_RX_max);
EEPROM.put(EEPROM_joystick_RY_max, joystick_RY_max);
EEPROM.put(EEPROM_joystick_LX_min, joystick_LX_min);
EEPROM.put(EEPROM_joystick_LY_min, joystick_LY_min);
EEPROM.put(EEPROM_joystick_RX_min, joystick_RX_min);
EEPROM.put(EEPROM_joystick_RY_min, joystick_RY_min);
tone(BuzzerPin, Buzzer_ShortTon);
delay(Buzzer_ShortTone_Time);
noTone(BuzzerPin);
delay(25);
tone(BuzzerPin, Buzzer_ShortTon);
delay(Buzzer_ShortTone_Time);
noTone(BuzzerPin);
}
void setup(){
Serial.begin(9600);
pinMode(joystick_button_Pin, INPUT_PULLUP);
EEPROM.get(0, eeprom);
if(eeprom != EEPROM_Code){
for (unsigned int i = 0 ; i < EEPROM.length() ; i++) {
EEPROM.put(i, 0);
}
EEPROM.put(0, EEPROM_Code);
calibrate();
}
else{
EEPROM.get(EEPROM_joystick_LX_middle, joystick_LX_middle);
EEPROM.get(EEPROM_joystick_LY_middle, joystick_LY_middle);
EEPROM.get(EEPROM_joystick_RX_middle, joystick_RX_middle);
EEPROM.get(EEPROM_joystick_RY_middle, joystick_RY_middle);
EEPROM.get(EEPROM_joystick_LX_max, joystick_LX_max);
EEPROM.get(EEPROM_joystick_LY_max, joystick_LY_max);
EEPROM.get(EEPROM_joystick_RX_max, joystick_RX_max);
EEPROM.get(EEPROM_joystick_RY_max, joystick_RY_max);
EEPROM.get(EEPROM_joystick_LX_min, joystick_LX_min);
EEPROM.get(EEPROM_joystick_LY_min, joystick_LY_min);
EEPROM.get(EEPROM_joystick_RX_min, joystick_RX_min);
EEPROM.get(EEPROM_joystick_RY_min, joystick_RY_min);
}
}
void joystickButtonPress(){
@@ -155,10 +290,10 @@ int joystick_position(int joystick, int joystick_middle, int joystick_min, int j
}
void loop(){
joystick_LX = joystick_position(analogRead(HandPin), joystick_LX_middle, joystickMin, joystickMin);
joystick_LY = joystick_position(analogRead(OberarmPin), joystick_LY_middle, joystickMin, joystickMin);
joystick_RX = joystick_position(analogRead(DrehungPin), joystick_RX_middle, joystickMin, joystickMin);
joystick_RY = joystick_position(analogRead(ArmPin), joystick_RY_middle, joystickMin, joystickMin);
joystick_LX = joystick_position(analogRead(joystick_LX_Pin), joystick_LX_middle, joystick_LX_min, joystick_LX_max);
joystick_LY = joystick_position(analogRead(joystick_LY_Pin), joystick_LY_middle, joystick_LY_min, joystick_LY_max);
joystick_RX = joystick_position(analogRead(joystick_RX_Pin), joystick_RX_middle, joystick_RX_min, joystick_RX_max);
joystick_RY = joystick_position(analogRead(joystick_RY_Pin), joystick_RY_middle, joystick_RY_min, joystick_RY_max);
if(joystick_LX == 0 && joystick_LY == 0 && joystick_RX == 0 && joystick_RY == 0){
if (TimeToAutoplay > offtime)