RP6
RP6
Daten:
Hersteller: Modell: Fahrwerk:
Arexx RP 6 Heng Long M41
altes orginal RP6 Chassis
RP 6 Programm im Entwicklungsstatus:
/*MyOwnProg*/
#include "RP6RobotBaseLib.h"
/********************************************************/
void bumpersStateChanged(void)
{
if(bumper_left && bumper_right)
{ writeString_P ("!!! Both Bumpers was hit !!!\n");
move(60, BWD, DIST_MM(100), true);
rotate(60, LEFT, 90, true);
}
else if(bumper_left)
{ writeString_P ("!!! Left Bumper was hit !!!\n");
move(60, BWD, DIST_MM(100), true);
rotate(60, RIGHT, 45, true);
}
else if(bumper_right)
{ writeString_P ("!!! Right Bumper was hit !!!\n");
move(60, BWD, DIST_MM(100), true);
rotate(60, LEFT, 45, true);
}
}
/********************************************************/
int main(void)
{
initRobotBase();
{
mSleep (1000);
writeString_P ("conect to RP6...\n");
writeString_P ("\n");
mSleep (2000);
writeString_P ("LED TEST...\n");
writeString_P ("\n");
mSleep (1000);
setLEDs (0b001001);
mSleep (1000);
setLEDs (0b011011);
mSleep (1000);
setLEDs (0b111111);
mSleep (1000);
setLEDs (0b110110);
mSleep (1000);
setLEDs (0b100100);
mSleep (1000);
setLEDs (0b000000);
mSleep (1500);
}
uint16_t ubat = readADC (ADC_BAT);
if (ubat > 650)
{ writeString_P ("BATTERY TEST...OK ");
writeInteger (ubat, DEC);
writeString_P ("0mV");
writeChar ('\n');
uint8_t i;
for (i = 0; i < 2; i++)
{ setLEDs (0b001001);
mSleep (500);
setLEDs (0b00000);
mSleep (500);
setLEDs (0b001001);
mSleep (500);
setLEDs (0b000000);
mSleep (500);
setLEDs (0b001001);
}
}
else
{
writeString_P ("BATTERY LOW...");
writeInteger (ubat, DEC);
writeString_P ("0mV");
writeChar ('\n');
uint8_t u;
for (u = 0; u < 10; u++)
{ setLEDs (0b100100);
mSleep (500);
setLEDs (0b010010);
mSleep (500);
setLEDs (0b100100);
mSleep (500);
setLEDs (0b010010);
}
} writeString_P ("\n");
setLEDs (0b000000);
{
BUMPERS_setStateChangedHandler(bumpersStateChanged);
powerON();
writeString_P ("RP6 ready...");
writeChar ('\n');
writeChar ('\n');
while(true)
task_RP6System();
return 0;
}
}
zur Zeit wird mein RP6 auf ein Heng Long M41 Walker Chassis umgebaut.
der Umbau der Hauptplatine ist fast abgeschlossen, Sensoren werden nach außen verlegt, Powerschalter ist oben angebracht als Taster mit
integrierter LED
