📄 rp6base_tv_remote_uncommented.c
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// (nearly) uncommented Version of RP6Base_TV_REMOTE.c
// written by Dominik S. Herwald
// ------------------------------------------------------------------------------------------
#include "RP6RobotBaseLib.h"
// If you only want to look at the RC5 Keycodes received from the Remote
// Control, uncomment this line:
//#define DO_NOT_MOVE
// The RP6 will not move then!
// Uncomment one of the following definitions:
//#define RC_EURO_SKY
#define RC_PROMO8
//#define RC_YOUR_OWN
#ifdef RC_EUROSKY
#define RC5_KEY_LEFT 22
#define RC5_KEY_RIGHT 21
#define RC5_KEY_FORWARDS 16
#define RC5_KEY_BACKWARDS 17
#define RC5_KEY_STOP 23
#define RC5_KEY_CURVE_LEFT 1
#define RC5_KEY_CURVE_RIGHT 3
#define RC5_KEY_CURVE_BACK_LEFT 7
#define RC5_KEY_CURVE_BACK_RIGHT 9
#define RC5_KEY_LEFT_MOTOR_FWD 1
#define RC5_KEY_LEFT_MOTOR_BWD 7
#define RC5_KEY_RIGHT_MOTOR_FWD 3
#define RC5_KEY_RIGHT_MOTOR_BWD 9
#endif
#ifdef RC_PROMO8
#define RC5_KEY_LEFT 21
#define RC5_KEY_RIGHT 22
#define RC5_KEY_FORWARDS 32
#define RC5_KEY_BACKWARDS 33
#define RC5_KEY_STOP 11
#define RC5_KEY_CURVE_LEFT 29
#define RC5_KEY_CURVE_RIGHT 13
#define RC5_KEY_CURVE_BACK_LEFT 10
#define RC5_KEY_CURVE_BACK_RIGHT 62
#define RC5_KEY_LEFT_MOTOR_FWD 1
#define RC5_KEY_LEFT_MOTOR_BWD 7
#define RC5_KEY_RIGHT_MOTOR_FWD 3
#define RC5_KEY_RIGHT_MOTOR_BWD 9
#endif
#ifdef RC_YOUR_OWN
#define RC5_KEY_LEFT 4
#define RC5_KEY_RIGHT 6
#define RC5_KEY_FORWARDS 2
#define RC5_KEY_BACKWARDS 8
#define RC5_KEY_STOP 5
#define RC5_KEY_CURVE_LEFT 1
#define RC5_KEY_CURVE_RIGHT 3
#define RC5_KEY_CURVE_BACK_LEFT 7
#define RC5_KEY_CURVE_BACK_RIGHT 9
#define RC5_KEY_LEFT_MOTOR_FWD 10
#define RC5_KEY_LEFT_MOTOR_BWD 11
#define RC5_KEY_RIGHT_MOTOR_FWD 12
#define RC5_KEY_RIGHT_MOTOR_BWD 13
#endif
#define MAX_SPEED_MOVE 200
#define MAX_SPEED_TURN 100
#define MAX_SPEED_CURVE 120
#define MAX_SPEED_CURVE2 40
#define ACCELERATE_CURVE 10
#define ACCELERATE_CURVE2 4
#define DECELERATE_CURVE 4
#define DECELERATE_CURVE2 2
#define MAX_SPEED_1_MOTOR 120
#define ACCELERATE_VALUE 8
#define DECELERATE_VALUE 4
uint8_t max_speed_left;
uint8_t max_speed_right;
uint8_t acl_left;
uint8_t acl_right;
uint8_t decl_left;
uint8_t decl_right;
void setDefaultSpeedParameters(void)
{
max_speed_left = MAX_SPEED_MOVE;
max_speed_right = max_speed_left;
acl_left = ACCELERATE_VALUE;
acl_right = ACCELERATE_VALUE;
decl_left = DECELERATE_VALUE;
decl_right = DECELERATE_VALUE;
uint16_t tmp = (getDesSpeedLeft() + getDesSpeedRight())/2;
moveAtSpeed(tmp , tmp);
}
void receiveRC5Data(RC5data_t rc5data)
{
writeString_P("Toggle Bit:");
writeChar(rc5data.toggle_bit + '0');
writeString_P(" | Device Address:");
writeInteger(rc5data.device, DEC);
writeString_P(" | Key Code:");
writeInteger(rc5data.key_code, DEC);
writeChar('\n');
#ifndef DO_NOT_MOVE
uint8_t movement_command = false;
switch(rc5data.key_code)
{
case RC5_KEY_LEFT:
writeString_P("LEFT\n");
setDefaultSpeedParameters();
max_speed_left = MAX_SPEED_TURN;
max_speed_right = max_speed_left;
changeDirection(LEFT);
setLEDs(0b100000);
movement_command = true;
break;
case RC5_KEY_RIGHT:
writeString_P("RIGHT\n");
setDefaultSpeedParameters();
max_speed_left = MAX_SPEED_TURN;
max_speed_right = max_speed_left;
changeDirection(RIGHT);
setLEDs(0b000100);
movement_command = true;
break;
case RC5_KEY_FORWARDS:
writeString_P("FORWARDS\n");
setDefaultSpeedParameters();
changeDirection(FWD);
setLEDs(0b100100);
movement_command = true;
break;
case RC5_KEY_BACKWARDS:
writeString_P("BACKWARDS\n");
setDefaultSpeedParameters();
changeDirection(BWD);
setLEDs(0b001001);
movement_command = true;
break;
case RC5_KEY_STOP:
writeString_P("STOP\n");
max_speed_left = 0;
max_speed_right = max_speed_left;
moveAtSpeed(0,0);
setLEDs(0b011011);
movement_command = true;
break;
case RC5_KEY_CURVE_LEFT:
writeString_P("CURVE LEFT FWD\n");
max_speed_left = MAX_SPEED_CURVE2;
max_speed_right = MAX_SPEED_CURVE;
acl_left = ACCELERATE_CURVE2;
acl_right = ACCELERATE_CURVE;
decl_left = DECELERATE_CURVE2;
decl_right = DECELERATE_CURVE;
changeDirection(FWD);
setLEDs(0b110100);
movement_command = true;
break;
case RC5_KEY_CURVE_RIGHT:
writeString_P("CURVE RIGHT FWD\n");
max_speed_left = MAX_SPEED_CURVE;
max_speed_right = MAX_SPEED_CURVE2;
acl_left = ACCELERATE_CURVE;
acl_right = ACCELERATE_CURVE2;
decl_left = DECELERATE_CURVE;
decl_right = DECELERATE_CURVE2;
changeDirection(FWD);
setLEDs(0b100110);
movement_command = true;
break;
case RC5_KEY_CURVE_BACK_LEFT:
writeString_P("CURVE LEFT BWD\n");
max_speed_left = MAX_SPEED_CURVE2;
max_speed_right = MAX_SPEED_CURVE;
acl_left = ACCELERATE_CURVE2;
acl_right = ACCELERATE_CURVE;
decl_left = DECELERATE_CURVE2;
decl_right = DECELERATE_CURVE;
changeDirection(BWD);
setLEDs(0b011001);
movement_command = true;
break;
case RC5_KEY_CURVE_BACK_RIGHT:
writeString_P("CURVE RIGHT BWD\n");
max_speed_left = MAX_SPEED_CURVE;
max_speed_right = MAX_SPEED_CURVE2;
acl_left = ACCELERATE_CURVE;
acl_right = ACCELERATE_CURVE2;
decl_left = DECELERATE_CURVE;
decl_right = DECELERATE_CURVE2;
changeDirection(BWD);
setLEDs(0b001011);
movement_command = true;
break;
case RC5_KEY_LEFT_MOTOR_FWD:
writeString_P("MOTOR LEFT FWD\n");
max_speed_left = 0;
max_speed_right = MAX_SPEED_1_MOTOR;
acl_left = 4;
acl_right = 4;
decl_left = 4;
decl_right = 4;
changeDirection(FWD);
setLEDs(0b110000);
movement_command = true;
break;
case RC5_KEY_LEFT_MOTOR_BWD:
writeString_P("MOTOR LEFT BWD\n");
max_speed_left = 0;
max_speed_right = MAX_SPEED_1_MOTOR;
acl_left = 4;
acl_right = 4;
decl_left = 4;
decl_right = 4;
changeDirection(BWD);
setLEDs(0b101000);
movement_command = true;
break;
case RC5_KEY_RIGHT_MOTOR_FWD:
writeString_P("MOTOR RIGHT FWD\n");
max_speed_left = MAX_SPEED_1_MOTOR;
max_speed_right = 0;
acl_left = 4;
acl_right = 4;
decl_left = 4;
decl_right = 4;
changeDirection(FWD);
setLEDs(0b000110);
movement_command = true;
break;
case RC5_KEY_RIGHT_MOTOR_BWD:
writeString_P("MOTOR RIGHT BWD\n");
max_speed_left = MAX_SPEED_1_MOTOR;
max_speed_right = 0;
acl_left = 4;
acl_right = 4;
decl_left = 4;
decl_right = 4;
changeDirection(BWD);
setLEDs(0b000101);
movement_command = true;
break;
}
if(movement_command)
{
if(getDesSpeedLeft() < max_speed_left)
{
moveAtSpeed(getDesSpeedLeft()+acl_left, getDesSpeedRight());
if(getDesSpeedLeft() < 10)
moveAtSpeed(10, getDesSpeedRight());
}
if(getDesSpeedRight() < max_speed_right)
{
moveAtSpeed(getDesSpeedLeft(), getDesSpeedRight()+acl_right);
if(getDesSpeedRight() < 10)
moveAtSpeed(getDesSpeedLeft(), 10);
}
setStopwatch1(0);
startStopwatch1();
}
#endif
}
void deccelerate(void)
{
if(getStopwatch1() > 250)
{
if(getDesSpeedLeft() <= 10)
moveAtSpeed(0, getDesSpeedRight());
else
moveAtSpeed(getDesSpeedLeft()-decl_left, getDesSpeedRight());
if(getDesSpeedRight() <= 10)
moveAtSpeed(getDesSpeedLeft(), 0);
else
moveAtSpeed(getDesSpeedLeft(), getDesSpeedRight()-decl_right);
if (getDesSpeedRight() == 0 && getDesSpeedLeft() == 0)
stopStopwatch1();
max_speed_left = getDesSpeedLeft();
max_speed_right = getDesSpeedRight();
setLEDs(0b000000);
setStopwatch1(0);
}
if(getDesSpeedLeft() > max_speed_left)
{
if(getDesSpeedLeft() <= 10)
moveAtSpeed(0, getDesSpeedRight());
else
moveAtSpeed(getDesSpeedLeft()-decl_left, getDesSpeedRight());
}
if(getDesSpeedRight() > max_speed_right)
{
if(getDesSpeedRight() <= 10)
moveAtSpeed(getDesSpeedLeft(), 0);
else
moveAtSpeed(getDesSpeedLeft(), getDesSpeedRight()-decl_right);
}
}
int main(void)
{
initRobotBase();
setLEDs(0b111111);
writeChar('\n');
writeString_P("RP6 controlled by RC5 TV Remote\n");
writeString_P("___________________________\n");
mSleep(500);
setLEDs(0b000000);
powerON();
IRCOMM_setRC5DataReadyHandler(receiveRC5Data);
writeString_P("\nYou can control your RP6 with the following RC5 Keycodes:");
writeString_P("\n-----------------------");
writeString_P("\n * Turn Left: "); writeInteger(RC5_KEY_LEFT, DEC);
writeString_P("\n * Turn Right: "); writeInteger(RC5_KEY_RIGHT, DEC);
writeString_P("\n * Move Forwards: "); writeInteger(RC5_KEY_FORWARDS, DEC);
writeString_P("\n * Move Backwards: "); writeInteger(RC5_KEY_BACKWARDS, DEC);
writeString_P("\n * Stop: "); writeInteger(RC5_KEY_STOP, DEC);
writeString_P("\n * Move curve left forwards: "); writeInteger(RC5_KEY_CURVE_LEFT, DEC);
writeString_P("\n * Move curve right forwards: "); writeInteger(RC5_KEY_CURVE_RIGHT, DEC);
writeString_P("\n * Move curve left backwards: "); writeInteger(RC5_KEY_CURVE_BACK_LEFT, DEC);
writeString_P("\n * Move curve right backwards: "); writeInteger(RC5_KEY_CURVE_BACK_RIGHT, DEC);
writeString_P("\n * Motor left forwards: "); writeInteger(RC5_KEY_LEFT_MOTOR_FWD, DEC);
writeString_P("\n * Motor left backwards: "); writeInteger(RC5_KEY_LEFT_MOTOR_BWD, DEC);
writeString_P("\n * Motor right forwards: "); writeInteger(RC5_KEY_RIGHT_MOTOR_FWD, DEC);
writeString_P("\n * Motor right backwards: "); writeInteger(RC5_KEY_RIGHT_MOTOR_BWD, DEC);
writeString_P("\n-----------------------\n");
writeString_P("To change the key mapping, read the comments in the program source code!\n");
writeString_P("_________\nPlease make sure that your IR Remote Control really transmits RC5 code!\n");
startStopwatch2();
while(true)
{
deccelerate();
task_RP6System();
}
return 0;
}
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