kiprasmel / sioko Goto Github PK
View Code? Open in Web Editor NEW:robot: :zap: Kovinio roboto programinė įranga, remastered
License: GNU General Public License v3.0
:robot: :zap: Kovinio roboto programinė įranga, remastered
License: GNU General Public License v3.0
Kai apsirašysim share-able sensorių config'ą pagal #12, bus labai lengva jį share'int / exportuot etc. (jeigu reiktų quick, bet netgi geriau būtų pasidaryt šitam pačiame projekte ir tiesiog padaryt script'ukus mano normies komandos nariams, kad galėtų prasicheck'int).
Tai galėtume checkint, ar kiekvienas sensorius bent 1 kartą visus pamatė ir vėl nebematė.
We tried from 40 to 30, seemed not bad.
It looks like the calculation for smalled degree angles is a bit off.
Bent kovos metu juos visus reikia išjungti, jog neužlaikytų roboto.
Būtų nice pasidaryt toggle'ą, kad galėtum paprastai keitinėt,
maždaug kaip global lygio DEBUG flag'as - ar įjungt, ar išjungt.
Realiai tai galim pasidaryt funkciją ir pagal global / local flag'ą tikrint, so yeah, cool, will do sometime later.
Normalūs sensoriai output'ina 0
, kai mato, o pvz linijų sensoriai ir lazeriai output'ina 1
.
Čia labai lengva pridaryt bug'ų ir juos labai sunku atsekti, tai let's fix it.
Toks jausmas, kad C++ be STL'o.
Motorai su laiku ir vairuoti robotą atskirai nutraukia ir varo pirmyn, jeigu priekis mato. Galbūt varymą į priekį reik įdėt į patį motor fn?
Nebeužtenka 1 skaičiuko (obviously). Struktūra atrodytų maždaug taip:
enum Puse {
kaire,
vidurys,
desine
};
struct Sensorius {
int pinas;
int kiekLaipsniuPasisukes;
Puse puse;
int outputKaiMato; /** tikrinimui su digitalRead, see #11 */
};
See also: #11
Pretty sure, kad viskas bus ok, bet reikia ir realiai išsimėgint lol
Arba pagal #12 dar į struktūrą pridėti, kuris pinMode'as yra sensoriui, bet I dunno.
Might have to fix front locking "ar priekis ka nors mato"
Tiesiog vietoj motoraiSuLaiku naudot motor
Use platformio to allow cross-platform development with various features and improvements, including C++ support!
This is only the porting part. The part 2 of this is actually re-writing some things the C++ way to either make the code simpler, more efficient, provide additional features, or all of the above.
Using /ladislas/Bare-Arduino-Project, port SIOKO to C++
Make compilation work w/ Makefile
Make uploading work w/ Makefile
2019-09-10
Turns out this is not as easy as it seems...
Prereq: #12
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