added web-ui-control

2026-02-01 20:42:33 +01:00
parent ac4425bb42
commit 3b07486e32
8 changed files with 581 additions and 0 deletions
@@ -0,0 +1,132 @@
+// ===== Arduino UNO: Differential Drive über 2x BTS7960 =====
+// Serial command format: "L <int> R <int>\n"  where int in [-255..255]
+// Soft-start ramping + watchdog stop
+
+// --- Left BTS7960 pins ---
+const uint8_t L_RPWM = 5;   // PWM
+const uint8_t L_LPWM = 6;   // PWM
+const uint8_t L_REN  = 7;   // enable
+const uint8_t L_LEN  = 8;   // enable
+
+// --- Right BTS7960 pins ---
+const uint8_t R_RPWM = 9;   // PWM
+const uint8_t R_LPWM = 10;  // PWM
+const uint8_t R_REN  = 11;  // enable
+const uint8_t R_LEN  = 12;  // enable
+
+// Ramping
+const uint8_t RAMP_STEP = 6;        // speed change per loop (0..255)
+const uint16_t LOOP_MS  = 15;       // ramp update interval
+const uint16_t CMD_TIMEOUT_MS = 300; // stop if no command within x ms
+
+int targetL = 0, targetR = 0;
+int currentL = 0, currentR = 0;
+
+unsigned long lastCmdMs = 0;
+unsigned long lastLoopMs = 0;
+
+void setupPins() {
+  pinMode(L_RPWM, OUTPUT); pinMode(L_LPWM, OUTPUT);
+  pinMode(L_REN, OUTPUT);  pinMode(L_LEN, OUTPUT);
+
+  pinMode(R_RPWM, OUTPUT); pinMode(R_LPWM, OUTPUT);
+  pinMode(R_REN, OUTPUT);  pinMode(R_LEN, OUTPUT);
+
+  digitalWrite(L_REN, HIGH); digitalWrite(L_LEN, HIGH);
+  digitalWrite(R_REN, HIGH); digitalWrite(R_LEN, HIGH);
+
+  analogWrite(L_RPWM, 0); analogWrite(L_LPWM, 0);
+  analogWrite(R_RPWM, 0); analogWrite(R_LPWM, 0);
+}
+
+static int clamp255(int v) {
+  if (v > 255) return 255;
+  if (v < -255) return -255;
+  return v;
+}
+
+void driveOne(int speed, uint8_t rpwm, uint8_t lpwm) {
+  speed = clamp255(speed);
+  if (speed > 0) {
+    analogWrite(rpwm, (uint8_t)speed);
+    analogWrite(lpwm, 0);
+  } else if (speed < 0) {
+    analogWrite(rpwm, 0);
+    analogWrite(lpwm, (uint8_t)(-speed));
+  } else {
+    analogWrite(rpwm, 0);
+    analogWrite(lpwm, 0);
+  }
+}
+
+static int rampTowards(int current, int target, uint8_t step) {
+  if (current < target) {
+    int n = current + step;
+    return (n > target) ? target : n;
+  }
+  if (current > target) {
+    int n = current - step;
+    return (n < target) ? target : n;
+  }
+  return current;
+}
+
+bool parseLine(const String& line, int &outL, int &outR) {
+  // expected: "L <int> R <int>"
+  int idxL = line.indexOf('L');
+  int idxR = line.indexOf('R');
+  if (idxL < 0 || idxR < 0) return false;
+
+  // crude parse; robust enough for our simple format
+  String partL = line.substring(idxL + 1, idxR);
+  String partR = line.substring(idxR + 1);
+
+  partL.trim();
+  partR.trim();
+
+  outL = partL.toInt();
+  outR = partR.toInt();
+  outL = clamp255(outL);
+  outR = clamp255(outR);
+  return true;
+}
+
+void setup() {
+  Serial.begin(115200);
+  setupPins();
+  lastCmdMs = millis();
+  lastLoopMs = millis();
+}
+
+void loop() {
+  // --- read serial lines ---
+  while (Serial.available()) {
+    String line = Serial.readStringUntil('\n');
+    line.trim();
+    if (line.length() == 0) continue;
+
+    int l, r;
+    if (parseLine(line, l, r)) {
+      targetL = l;
+      targetR = r;
+      lastCmdMs = millis();
+    }
+  }
+
+  // --- watchdog stop ---
+  if (millis() - lastCmdMs > CMD_TIMEOUT_MS) {
+    targetL = 0;
+    targetR = 0;
+  }
+
+  // --- ramp update ---
+  if (millis() - lastLoopMs >= LOOP_MS) {
+    lastLoopMs = millis();
+
+    currentL = rampTowards(currentL, targetL, RAMP_STEP);
+    currentR = rampTowards(currentR, targetR, RAMP_STEP);
+
+    driveOne(currentL, L_RPWM, L_LPWM);
+    driveOne(currentR, R_RPWM, R_LPWM);
+  }
+}