Lino/RoboterArm
1
0
Fork 0
mirror of https://github.com/LinoSchmidt/RoboterArm.git synced 2026-03-21 02:31:16 +01:00
Code Issues Packages Projects Releases Wiki Activity

get middle at start

Browse Source
This commit is contained in:
LinoSchmidt
2022-01-17 23:00:33 +01:00
parent e3301f4ea2
commit 53b819409f
1 changed files with 59 additions and 68 deletions
Download Patch File Download Diff File Expand all files Collapse all files

127
Firmware 2.0/src/main.cpp
View File

@@ -64,11 +64,7 @@
#define Buzzer_ShortTone_Time 50
//EEPROM
#define EEPROM_Code 6182 //index 0
#define EEPROM_joystick_LX_middle 20
#define EEPROM_joystick_LY_middle 40
#define EEPROM_joystick_RX_middle 60
#define EEPROM_joystick_RY_middle 80
#define EEPROM_Code 6183 //index 0
#define EEPROM_joystick_LX_max 100
#define EEPROM_joystick_LY_max 120
#define EEPROM_joystick_RX_max 140
@@ -96,61 +92,56 @@ bool detached = true;
int eeprom = 0;
void calibrate(){
void calibrateMiddle(){
Serial.print("Get Middle Positions: ");
joystick_LX_middle = 0;
for(int i = Calibration_messureCount; i > 0; i--){
joystick_LX_middle += analogRead(joystick_LX_Pin);
delay(Calibration_messureTime);
}
joystick_LX_middle = joystick_LX_middle / Calibration_messureCount;
Serial.print("LX:" + String(joystick_LX_middle));
joystick_LY_middle = 0;
for(int i = Calibration_messureCount; i > 0; i--){
joystick_LY_middle += analogRead(joystick_LY_Pin);
delay(Calibration_messureTime);
}
joystick_LY_middle = joystick_LY_middle / Calibration_messureCount;
Serial.print(" LY:" + String(joystick_LY_middle));
joystick_RX_middle = 0;
for(int i = Calibration_messureCount; i > 0; i--){
joystick_RX_middle += analogRead(joystick_RX_Pin);
delay(Calibration_messureTime);
}
joystick_RX_middle = joystick_RX_middle / Calibration_messureCount;
Serial.print(" RX:" + String(joystick_RX_middle));
joystick_RY_middle = 0;
for(int i = Calibration_messureCount; i > 0; i--){
joystick_RY_middle += analogRead(joystick_RY_Pin);
delay(Calibration_messureTime);
}
joystick_RY_middle = joystick_RY_middle / Calibration_messureCount;
Serial.println(" RY:" + String(joystick_RY_middle));
Serial.println("Saved");
}
void calibrateMaxMin(){
tone(BuzzerPin, Buzzer_CalibrationHGIH);
for(int loT = Buzzer_CalibrationHGIH; loT > Buzzer_CalibrationLOW; loT--){
tone(BuzzerPin, loT);
delay(Calibration_TimeToMiddle / (Buzzer_CalibrationHGIH - Buzzer_CalibrationLOW));
}
Serial.print("Get Middle Positions: ");
int joystick_LX_middle_av = 0;
for(int i = Calibration_messureCount; i > 0; i--){
joystick_LX_middle_av += analogRead(joystick_LX_Pin);
delay(Calibration_messureTime);
}
joystick_LX_middle_av = joystick_LX_middle_av / Calibration_messureCount;
Serial.print("LX:" + String(joystick_LX_middle_av));
int joystick_LY_middle_av = 0;
for(int i = Calibration_messureCount; i > 0; i--){
joystick_LY_middle_av += analogRead(joystick_LY_Pin);
delay(Calibration_messureTime);
}
joystick_LY_middle_av = joystick_LY_middle_av / Calibration_messureCount;
Serial.print(" LY:" + String(joystick_LY_middle_av));
int joystick_RX_middle_av = 0;
for(int i = Calibration_messureCount; i > 0; i--){
joystick_RX_middle_av += analogRead(joystick_RX_Pin);
delay(Calibration_messureTime);
}
joystick_RX_middle_av = joystick_RX_middle_av / Calibration_messureCount;
Serial.print(" RX:" + String(joystick_RX_middle_av));
int joystick_RY_middle_av = 0;
for(int i = Calibration_messureCount; i > 0; i--){
joystick_RY_middle_av += analogRead(joystick_RY_Pin);
delay(Calibration_messureTime);
}
joystick_RY_middle_av = joystick_RY_middle_av / Calibration_messureCount;
Serial.println(" RY:" + String(joystick_RY_middle_av));
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;
Serial.println("Saved");
calibrateMiddle();
tone(BuzzerPin, Buzzer_ShortTon);
delay(Buzzer_ShortTone_Time);
@@ -158,14 +149,14 @@ void calibrate(){
Serial.println("Wait for Input...");
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;
joystick_LX_max = joystick_LX_middle;
joystick_LY_max = joystick_LY_middle;
joystick_RX_max = joystick_RX_middle;
joystick_RY_max = joystick_RY_middle;
joystick_LX_min = joystick_LX_middle;
joystick_LY_min = joystick_LY_middle;
joystick_RX_min = joystick_RX_middle;
joystick_RY_min = joystick_RY_middle;
while(digitalRead(joystick_button_Pin) == HIGH){
int joystick_LX_rout = analogRead(joystick_LX_Pin);
@@ -224,13 +215,13 @@ void setup(){
}
EEPROM.put(1, EEPROM_Code);
calibrate();
calibrateMaxMin();
}
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);
tone(BuzzerPin, Buzzer_ShortTon);
delay(2000);
calibrateMiddle();
noTone(BuzzerPin);
EEPROM.get(EEPROM_joystick_LX_max, joystick_LX_max);
EEPROM.get(EEPROM_joystick_LY_max, joystick_LY_max);
@@ -291,7 +282,7 @@ void joystickButtonPress(){
Serial.println(String(Code[0]) + String(Code[1]) + String(Code[2]) + String(Code[3]) + String(Code[4]) + " Len:" + String(CodeLenght));
if(Code[0] == 0 && Code[1] == 1 && Code[2] == 0 && Code[3] == 1 && Code[4] == 0 && CodeLenght == 4){
Serial.println("Calibrate...");
calibrate();
calibrateMaxMin();
}
}
}