Basebot main code - Revision history

Jca: /* Setup */

2025-08-31T09:33:32Z

Setup

← Older revision		Revision as of 11:33, 31 August 2025
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	== Setup ==		== Setup ==

	The ''setup()'' function is like this and initializes all support modules:		The ''setup()'' function is like this and initializes all support modules in the Basebot API:

	void setup() // INITIALIZATION		void setup() // INITIALIZATION

2025-08-31T09:32:28Z

Main code

← Older revision		Revision as of 11:32, 31 August 2025
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	The code is based on the Arduino environment.		The code is based on the Arduino environment.
	Here, the normal C-main function is hidden. However, "setup()" is called first, followed by an endless loop that calls "loop()".		Here, the normal C (and C++) ''main()'' function is hidden. However, ''setup()'' is called first, followed by an endless loop that calls ''loop()''.

	[[file: basebot_6.ino-block.png \| 400px]]		[[file: basebot_6.ino-block.png \| 400px]]

2025-08-31T06:38:01Z

Support functions

← Older revision		Revision as of 08:38, 31 August 2025
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	A few other support functions are added to keep the code clearer.		A few other support functions are added to keep the code clearer.

	~~Start()~~ empties the log and resets what is needed for a fresh start.		The start function empties the log and resets what is needed for a fresh start.
	Further, the display is disabled to maintain a constant sample rate.		Further, the display is disabled to maintain a constant sample rate.

Line 311:		Line 311:
	encoder.encoder[0] = 0; // left motor encoder		encoder.encoder[0] = 0; // left motor encoder
	encoder.encoder[1] = 0; // right motor encoder		encoder.encoder[1] = 0; // right motor encoder
	// Update of display takes too long ~~time~~ for fast sampling		// Update of display takes too long for fast sampling
	// So, disable during sequence.		// So, disable during sequence.
	display.useDisplay = false;		display.useDisplay = false;

2025-08-31T06:36:34Z

Support functions

← Older revision		Revision as of 08:36, 31 August 2025
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	state = 999;		state = 999;
	desiredValue = 0;		desiredValue = 0;
	// end log after additional ~~0.3 seconds~~		// end log after an additional short time
	endTime = time_sec + after;		endTime = time_sec + after;
	}		}

2025-08-31T06:35:53Z

Update log

← Older revision		Revision as of 08:35, 31 August 2025
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	logs[logsCnt].state = state;		logs[logsCnt].state = state;
	logs[logsCnt].desiredValue = desiredValue;		logs[logsCnt].desiredValue = desiredValue;
	logs[logsCnt].motorVolt[0] = -motor.motorVoltage[0];		logs[logsCnt].motorVolt[0] = -motor.motorVoltage[0]; // The left motor runs backwards, therefore the sign.
	logs[logsCnt].motorVolt[1] = motor.motorVoltage[1];		logs[logsCnt].motorVolt[1] = motor.motorVoltage[1];
	logs[logsCnt].encoder[0] = -encoder.encoder[0];		logs[logsCnt].encoder[0] = -encoder.encoder[0];

2025-08-31T06:27:36Z

Support functions

← Older revision		Revision as of 08:27, 31 August 2025
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	}		}

	The finished function		The finished function prepares for the next start and re-enables the display.
			The function further prints the log; this is handy if the USB cable is connected during the run.

	void finished()		void finished()

2025-08-31T06:24:44Z

Update log

@@ Line 292: / Line 292: @@
    Serial.print(logsCnt);
    Serial.println(" log lines");
+  }

2025-08-31T06:08:55Z

Update log

← Older revision		Revision as of 08:08, 31 August 2025
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	Serial.print(" "); Serial.print(d->motorVel[1],2); // 9 (rad/s)		Serial.print(" "); Serial.print(d->motorVel[1],2); // 9 (rad/s)
	Serial.print(" "); Serial.print(d->battery,2); // 10 (V)		Serial.print(" "); Serial.print(d->battery,2); // 10 (V)
	Serial.print(" "); Serial.print(d->motorCurrent[0],3); // 10 (V)		Serial.print(" "); Serial.print(d->motorCurrent[0],3); // 11 (A)
	Serial.print(" "); Serial.print(d->motorCurrent[1],3); // 10 (V)		Serial.print(" "); Serial.print(d->motorCurrent[1],3); // 12 (A)
	Serial.println(" ");		Serial.println(" ");
	//delay(1);		//delay(1);

2025-08-31T06:07:51Z

Update log

@@ Line 241: / Line 241: @@
      logsCnt++;
+   }
+  }

2025-08-31T06:00:25Z

Control

@@ Line 189: / Line 189: @@
    // Right motor voltage (-9V to +9V)
    motor.motorVoltage[1] = velRef;
+  }