AlphaBot: Open Roberta Lab

Autoren:

Prof. Dr.-Ing. Schneider

Abb. 1: AlphaBot von Waveshare

HowTo

Abb. 1: Open Roberta Connector - ID Editor

• Verbindung zum Uno Plus (AplhaBot) via Open Roberta Connector.
  • Schließen Sie den Arduino uno Plus an.
  • Starten Sie den Open Roberta Connector.
  • Öffnen Sie den ID Editor.
  • Ersetzen Sie "Bionic Flower" durch "Uno" (vgl. Abb. 2).

AlhbaBot.cpp  <syntaxhighlight lang="c" style="background-color: #EFF1C1; font-size:small">

1. include "AlphaBot.h"

1. define DefaultSpeed 255

char AlphaBot::LSpeed = DefaultSpeed; char AlphaBot::RSpeed = DefaultSpeed;

// Default Arduino Car pin define AlphaBot::AlphaBot() {

 LMotorSpeedPin = 5;             //Left Motor Speed pin (ENA)
 LMotorForward = A0;             //Motor-L forward (IN1).
 LMotorBackward = A1;            //Motor-L backward (IN2)
 
 RMotorSpeedPin = 6;             //Right Motor Speed pin (ENB)
 RMotorForward = A3;             //Motor-R forward (IN4)
 RMotorBackward = A2;            //Motor-R backward (IN3)
 
 pinMode(LMotorSpeedPin,OUTPUT);                     
 pinMode(LMotorForward,OUTPUT);      
 pinMode(LMotorBackward,OUTPUT);
 
 pinMode(RMotorSpeedPin,OUTPUT);       
 pinMode(RMotorForward,OUTPUT);     
 pinMode(RMotorBackward,OUTPUT);  

}

//AlphaBot::AlphaBot(int LSpeedPin = 5,int L1 = A0,int L2 = A1 ,int RSpeedPin = 6,int R1 = A3,int R2 = A2) AlphaBot::AlphaBot(int LSpeedPin,int L1,int L2,int RSpeedPin,int R1,int R2) {

 this->LMotorSpeedPin = LSpeedPin;             
 this->LMotorForward = L1;            
 this->LMotorBackward = L2;
 
 this->RMotorSpeedPin = RSpeedPin;       
 this->RMotorForward = R1;           
 this->RMotorBackward = R2;       
 
 pinMode(LMotorSpeedPin,OUTPUT);                     
 pinMode(LMotorForward,OUTPUT);      
 pinMode(LMotorBackward,OUTPUT);
 
 pinMode(RMotorSpeedPin,OUTPUT);       
 pinMode(RMotorForward,OUTPUT);     
 pinMode(RMotorBackward,OUTPUT); 

}

//drive the left motor run forward void AlphaBot::LeftMotorForward(char inLSpeed = LSpeed) {

 analogWrite(LMotorSpeedPin,inLSpeed);                
 digitalWrite(LMotorForward,HIGH);  					
 digitalWrite(LMotorBackward,LOW); 

}

//drive the left motor run backward void AlphaBot::LeftMotorBackward(char inLSpeed = LSpeed) {

 analogWrite(LMotorSpeedPin,inLSpeed);                
 digitalWrite(LMotorForward,LOW);  					
 digitalWrite(LMotorBackward,HIGH); 

}

//drive the left motor stop void AlphaBot::LeftMotorStop() {

 digitalWrite(LMotorSpeedPin,LOW);               

}

//drive the right motor run forward void AlphaBot::RightMotorForward(char inRSpeed = RSpeed) {

 analogWrite(RMotorSpeedPin,inRSpeed);               
 digitalWrite(RMotorForward,HIGH);   				  
 digitalWrite(RMotorBackward,LOW);

}

//drive the right motor run backward void AlphaBot::RightMotorBackward(char inRSpeed = RSpeed) {

 analogWrite(RMotorSpeedPin,inRSpeed);               
 digitalWrite(RMotorForward,LOW);   				   
 digitalWrite(RMotorBackward,HIGH);

}

bool AlphaBot::MotorRun(int LS,int RS) {

 if(LS >= 0 && LS <= 255)
 {
   LeftMotorForward(LS);
 }
 if(LS < 0 && LS >= -255)
 {
   LeftMotorBackward(abs(LS));
 }
 
 if(RS >= 0 && RS <= 255)
 {
   RightMotorForward(RS);
 }
 if(RS < 0 && RS >= -255)
 {
   RightMotorBackward(abs(RS));
 }
 if (RS > 255 || RS < -255 || LS > 255 || LS < -255)
 {
   return false;
 }
 
 return true;

}

//drive the right motor stop void AlphaBot::RightMotorStop() {

 digitalWrite(RMotorSpeedPin,LOW);             

}

//drive the car run forward void AlphaBot::Forward() {

 LeftMotorForward();
 RightMotorForward();

}

//drive the car run forward void AlphaBot::Forward(unsigned int DelayMS) {

 Forward();  
 delay(DelayMS);
 Brake();

}

//drive the car run backward void AlphaBot::Backward() {

 LeftMotorBackward();
 RightMotorBackward();

}

void AlphaBot::Backward(unsigned int DelayMS) {

 Backward();  
 delay(DelayMS);
 Brake();

}

//drive the car turn left void AlphaBot::Left() {

 LeftMotorStop();
 RightMotorForward();

}

void AlphaBot::Left(unsigned int DelayMS) {

 Left();  
 delay(DelayMS);
 Brake();

}

//drive the car turn right void AlphaBot::Right() {

 RightMotorStop();
 LeftMotorForward();

}

void AlphaBot::Right(unsigned int DelayMS) {

 Right();  
 delay(DelayMS);
 Brake();

}

//drive the car left circle void AlphaBot::LeftCircle() {

 LeftMotorBackward();
 RightMotorForward();

}

void AlphaBot::LeftCircle(unsigned int DelayMS) {

 LeftCircle();  
 delay(DelayMS);
 Brake();

}

//drive the car Right circle void AlphaBot::RightCircle() {

 LeftMotorForward();
 RightMotorBackward();

}

void AlphaBot::RightCircle(unsigned int DelayMS) {

 RightCircle();  
 delay(DelayMS);
 Brake();

}

//drive the car brake void AlphaBot::Brake() {

  LeftMotorStop();
  RightMotorStop();

}

//reset the speed of the car void AlphaBot::SetSpeed(char LSpeed,char RSpeed) {

 this->LSpeed = LSpeed;
 this->RSpeed = RSpeed;
 analogWrite(RMotorSpeedPin,RSpeed);  
 analogWrite(LMotorSpeedPin,LSpeed);   

}

//reset the speed of the car void AlphaBot::SetSpeed(char Speed) {

 this->LSpeed = Speed;
 this->RSpeed = Speed;
 analogWrite(RMotorSpeedPin,RSpeed);  
 analogWrite(LMotorSpeedPin,LSpeed); 

}

void AlphaBot::SetRSpeed(char Speed) {

 this->RSpeed = Speed;
 analogWrite(RMotorSpeedPin,RSpeed);                

}

void AlphaBot::SetLSpeed(char Speed) {

 this->LSpeed = Speed;
 analogWrite(LMotorSpeedPin,LSpeed);                  

}

}