Long Way Home

1/* Auswertung von Winkelencoder mit Lochscheibe
2/* und zwei Reflex-Lichtschranken
3/*
4  * Lab3 09/2012 Nawrath
5 * Kunsthochschule fuer Medien Koeln
6 * Academy of  Media Arts Cologne
7 * h ttp://interface.khm.de
8 
9 thanks to adafruit, ideas  have be taken from the
10 Arduino library for the  LPD8806-based strip.
11 
12  This program is free software: you can redistribute it and/or modify
13 it under  the terms of the GNU General Public License as published by
14 the Free Software  Foundation, either version 3 of the License, or
15 (at your option) any later version.
16  
17 This program is distributed in the hope that it will be useful,
18 but WITHOUT  ANY WARRANTY; without even the implied warranty of
19 MERCHANTABILITY or FITNESS  FOR A PARTICULAR PURPOSE.  See the
20 GNU General Public License for more details.
21  
22 You should have received a copy of the GNU General Public License
23 along  with this program.  If not, see <http://www.gnu.org/licenses/>.
24 */
25
26
27
28
29#include  <AFMotor.h>
30
31AF_DCMotor motor(1, MOTOR12_64KHZ);
32
33
34int pinIRGnd=19;
35int  pinIRVcc=18;
36int pinIRb=17;
37int pinIRa=16;
38
39int pinLed= 13; 
40  
41
42#define  debug 0
43
44
45
46/* SETUP */
47void setup () {
48  Serial.begin(115200);
49  pinMode(pinLed, OUTPUT);
50
51
52  pinMode(pinIRGnd, OUTPUT);
53  pinMode(pinIRVcc,  OUTPUT);
54  pinMode(pinIRa, INPUT);
55  pinMode(pinIRb, INPUT);
56  digitalWrite(pinIRVcc,1);
57
58}
59
60/*  MAIN LOOP */
61//****************************************************************************
62void  loop(){
63
64 int SpeedPoti = analogRead(A0);
65 motor.setSpeed(SpeedPoti*0.249);
66
67  if (SpeedPoti>10)
68 {
69   motor.run(FORWARD);
70 }
71 else
72 {
73   motor.run(RELEASE);
74  }
75
76
77  int ww=getIrSensors();
78
79}
80//****************************************************************************
81int  getIrSensors() {
82
83  int teilungen=24;   // Anzahl der Sektoren auf der Scheibe
84  int nMax= 1;       // max Umdregungen
85  
86  int teilgrad=360/teilungen;
87
88  static int  iraa,irba,winkel;
89  static long milA,milAa,milAaT;
90  static  int f_init=1;
91  static int tSektor,tSektorTeil;
92  static int wTeilSektor;
93  static int cntSektor,cnt360;
94
95
96
97  int ira= digitalRead(pinIRa);  //  Sektor Spur
98  int irb= digitalRead(pinIRb);  // 360 Spur
99  digitalWrite(pinLed,ira);
100
101
102  milA=millis();
103
104  if (milA >= milAaT + tSektorTeil){   // Winelausgabe berecnet  aus Sektore  x Umdehungen + extrapoliertem Winke
105    wTeilSektor++;
106    winkel=wTeilSektor+cntSektor*360/teilungen+cnt360*360;
107
108    milAaT=milA;
109    
110       Serial.println(winkel );
111     
112  }
113
114
115  if (ira == 1 && iraa ==0 ) {   // Sektor Spur
116#if debug 
117    Serial.print("***  Sektor ");
118#endif
119    //  if (!f_360 )
120    cntSektor++;
121    //  f_360=0;
122
123    tSektor= milA-milAa;
124    tSektorTeil= tSektor/teilgrad;
125    milAa=milA;
126    wTeilSektor=0;
127    winkel=wTeilSektor+cntSektor*360/teilungen+cnt360*360;
128#if  debug     
129    Serial.print("sec:");
130    Serial.print(cntSektor);
131
132    Serial.print(" 360:");
133    Serial.print(cnt360);
134    Serial.print("  tS:");
135    Serial.print(tSektor);
136    Serial.print(" tW:");
137    Serial.print(tSektorTeil);
138        Serial.print(" W:");
139    Serial.print(winkel);
140    Serial.println("");
141#endif
142
143  }
144
145
146  if (irb == 1  && irba == 0) {  // 360 Spur
147#if debug 
148    Serial.print("###  360 ");
149#endif
150    while ( digitalRead(pinIRa)==0) {
151      delay(1);
152
153    }
154    wTeilSektor=0;
155    cnt360++;
156    cntSektor=0;
157    ira=1;
158    if (f_init) {
159      cnt360=0;
160      f_init=0;
161    }
162    if (cnt360  >= nMax ) cnt360=0;
163  }
164
165
166  iraa=ira;
167  irba=irb;
168
169  return(winkel);
170
171}
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