diff --git a/Inc/config.h b/Inc/config.h index 3f61f6d..9dd3ed0 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -54,7 +54,7 @@ // ###### CONTROL VIA UART (serial) ###### //#define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! -#define CONTROL_BAUD 19200 // control via usart from eg an Arduino or raspberry +// #define CONTROL_BAUD 19200 // control via usart from eg an Arduino or raspberry // for Arduino, use void loop(void){ Serial.write((uint8_t *) &steer, sizeof(steer)); Serial.write((uint8_t *) &speed, sizeof(speed));delay(20); } // ###### CONTROL VIA RC REMOTE ###### @@ -75,6 +75,7 @@ //#define INVERT_GAMETRAK #define SUPPORT_LCD #define SUPPORT_NUNCHUCK +//#define SUPPORT_REMOTE #define VEL_P 0.9 #define ROT_P 1.2 diff --git a/Src/main.c b/Src/main.c index cc63783..a1c0d91 100644 --- a/Src/main.c +++ b/Src/main.c @@ -170,6 +170,7 @@ int main(void) { int lastDistance = 0; enable = 1; + uint8_t checkRemote = 0; HAL_FLASH_Unlock(); @@ -210,7 +211,9 @@ int main(void) { LCD_WriteString(&lcd, "Initializing..."); int buttonTimeout = 0; - uint8_t checkRemote = 1; + + #ifdef SUPPORT_REMOTE + checkRemote = 1; while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { buttonTimeout++; HAL_Delay(100); @@ -225,6 +228,7 @@ int main(void) { HAL_Delay(2000); } } + #endif LCD_ClearDisplay(&lcd); HAL_Delay(5); @@ -385,15 +389,18 @@ int main(void) { if ((distance / 1345.0) - setDistance > 0.5 && (lastDistance / 1345.0) - setDistance > 0.5) { // Error, robot too far away! enable = 0; longBeep(); + #ifdef SUPPORT_LCD LCD_ClearDisplay(&lcd); HAL_Delay(5); LCD_SetLocation(&lcd, 0, 0); LCD_WriteString(&lcd, "Emergency Off!"); LCD_SetLocation(&lcd, 0, 1); LCD_WriteString(&lcd, "Keeper to fast."); + #endif poweroff(); } + #ifdef SUPPORT_LCD if (counter % 100 == 0) { LCD_SetLocation(&lcd, 4, 0); LCD_WriteFloat(&lcd,distance/1345.0,2); @@ -405,8 +412,9 @@ int main(void) { LCD_WriteFloat(&lcd,MAX(ABS(currentR), ABS(currentL)),2); } #endif + #endif - + #ifndef CONTROL_GAMETRAK // ####### LOW-PASS FILTER ####### steer = steer * (1.0 - FILTER) + cmd1 * FILTER; speed = speed * (1.0 - FILTER) + cmd2 * FILTER; @@ -466,6 +474,7 @@ int main(void) { while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {} poweroff(); } + #endif // ####### BEEP AND EMERGENCY POWEROFF ####### diff --git a/build/hover.hex b/build/hover.hex index ee155b0..c955d45 100644 --- a/build/hover.hex +++ b/build/hover.hex @@ -1,23 +1,23 @@ :020000040800F2 -:1000000000C00020F95F0008CD5F0008D15F000844 -:10001000D55F0008D95F0008DD5F00080000000020 -:10002000000000000000000000000000E15F000888 -:10003000E55F000800000000E95F0008ED5F0008D0 -:1000400049600008496000084960000849600008EC -:1000500049600008496000084960000849600008DC -:10006000496000084960000849600008A94D00087F -:1000700049600008496000084960000849600008BC -:1000800049600008496000084960000849600008AC -:10009000496000084960000849600008496000089C -:1000A000496000084960000849600008496000088C 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