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Joel Klimont
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<span id="gettingstarted-codeserver"></span><h1>Programmierumgebung<a class="headerlink" href="#programmierumgebung" title="Permalink to this heading">¶</a></h1>
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<section id="programmierumgebung">
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<span id="gettingstarted-codeserver"></span><h1>Programmierumgebung<a class="headerlink" href="#programmierumgebung" title="Permalink to this heading"></a></h1>
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<p>Als Umgebung zur Programmierung des Roboters wird <a class="reference external" href="https://github.com/coder/code-server">code-server</a> eingesetzt, welche bereits am Roboter vorinstalliert ist.</p>
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<div class="section" id="verbindung-zur-entwicklungsumgebung-herstellen">
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<h2>Verbindung zur Entwicklungsumgebung herstellen<a class="headerlink" href="#verbindung-zur-entwicklungsumgebung-herstellen" title="Permalink to this heading">¶</a></h2>
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<p>Am Roboter wird die IP-Adresse des Raspberry Pi angezeigt. Um nun die Verbindung herzustellen, muss man in einem Web-Browser einfach <code class="docutils literal notranslate"><span class="pre"><roboter_ip>:8080</span></code> eingeben.
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Das Passwort für Visual Studio Code im Browser ist <code class="docutils literal notranslate"><span class="pre">compair</span></code>!</p>
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<h1>Mein erstes Programm<a class="headerlink" href="#mein-erstes-programm" title="Permalink to this heading">¶</a></h1>
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<section id="mein-erstes-programm">
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<h1>Mein erstes Programm<a class="headerlink" href="#mein-erstes-programm" title="Permalink to this heading"></a></h1>
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<p>Um mit der Programmierung zu beginnen, müssen wir zunächst einen neuen Ordner erstellen, in dem alle unsere Python-Dateien gespeichert werden.
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<img alt="codeServerFolder" src="../_images/06_codeServerFolder.png" /></p>
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<p>Sie können diesen Ordner nennen, wie Sie wollen, für dieses Beispiel heißt er <code class="docutils literal notranslate"><span class="pre">compAIR</span></code>.
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@ -183,62 +97,37 @@ Im nächsten Schritt erstellen wir unsere Datei <code class="docutils literal no
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<img alt="codeServerRun" src="../_images/04_codeServerRun.png" /></p>
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<p>Dann öffnet sich ein Terminal, der die Ausgabe unseres Programms anzeigt.
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<img alt="codeServerTerminal" src="../_images/05_codeServerTerminal.png" /></p>
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|
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<h1>Mein zweites Programm<a class="headerlink" href="#mein-zweites-programm" title="Permalink to this heading">¶</a></h1>
|
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<div class="section" id="motoren-ansteuern">
|
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<h2>Motoren ansteuern<a class="headerlink" href="#motoren-ansteuern" title="Permalink to this heading">¶</a></h2>
|
||||
|
||||
<section id="mein-zweites-programm">
|
||||
<h1>Mein zweites Programm<a class="headerlink" href="#mein-zweites-programm" title="Permalink to this heading"></a></h1>
|
||||
<section id="motoren-ansteuern">
|
||||
<h2>Motoren ansteuern<a class="headerlink" href="#motoren-ansteuern" title="Permalink to this heading"></a></h2>
|
||||
<p>Um die Motoren des Roboters zu steuern, müssen wir zunächst das entsprechende Python-Modul am Anfang der Datei importieren. Dann können wir Motor.power(port, power) verwenden, um den Motor zu steuern.
|
||||
Dies ist auch ein guter Punkt, um sich mit der Dokumentation vertraut zu machen: Besuchen wir <a class="reference external" href="https://lib.comp-air.at/lib/Motor.html#compLib.Motor.Motor.power">https://lib.comp-air.at/lib/Motor.html#compLib.Motor.Motor.power</a>. Hier werden die beiden relevanten Parameter beschrieben.</p>
|
||||
<p>Als Beispiel wollen wir den rechten Motor für fünf Sekunden auf volle Geschwindigkeit setzen:</p>
|
||||
|
|
@ -190,9 +104,9 @@ Dies ist auch ein guter Punkt, um sich mit der Dokumentation vertraut zu machen:
|
|||
<span class="linenos">6</span><span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">5</span><span class="p">)</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="section" id="gerade-fahren">
|
||||
<h2>Gerade fahren<a class="headerlink" href="#gerade-fahren" title="Permalink to this heading">¶</a></h2>
|
||||
</section>
|
||||
<section id="gerade-fahren">
|
||||
<h2>Gerade fahren<a class="headerlink" href="#gerade-fahren" title="Permalink to this heading"></a></h2>
|
||||
<p>Um geradeaus zu fahren, müssen wir beide Motoren auf dieselbe Geschwindigkeit einstellen.
|
||||
Aber Achtung! Der rechte Motor muss umgedreht werden! Das liegt daran, dass einer nach rechts und einer nach links zeigt, sie sind also technisch gesehen gespiegelt.
|
||||
Wenn wir nun diesen Code ausführen, wird der Roboter 5 Sekunden lang vorwärts fahren:</p>
|
||||
|
|
@ -214,8 +128,8 @@ Wenn wir nun diesen Code ausführen, wird der Roboter 5 Sekunden lang vorwärts
|
|||
<div class="line">In <code class="docutils literal notranslate"><span class="pre">Zeile</span> <span class="pre">7</span></code> müssen wir warten, bis der Roboter die Fahrbefehle tatsächlich ausführt. In diesem Fall warten wir <code class="docutils literal notranslate"><span class="pre">5</span></code> Sekunden lang.</div>
|
||||
</div>
|
||||
<p>Danach wird das Programm beendet und der Roboter bleibt stehen.</p>
|
||||
<div class="section" id="mehr-fahren">
|
||||
<h3>Mehr fahren<a class="headerlink" href="#mehr-fahren" title="Permalink to this heading">¶</a></h3>
|
||||
<section id="mehr-fahren">
|
||||
<h3>Mehr fahren<a class="headerlink" href="#mehr-fahren" title="Permalink to this heading"></a></h3>
|
||||
<p>Jetzt ist es Zeit für einige komplexere Bewegungen. Um unseren Code modular und leicht lesbar zu halten, werden wir jede Aktion in eine eigene Funktion packen.</p>
|
||||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">1</span><span class="kn">import</span> <span class="nn">time</span>
|
||||
<span class="linenos">2</span><span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
|
||||
|
|
@ -434,64 +348,39 @@ Nun werden wir uns einige weitere Optimierungen und bewährte Verfahren ansehen.
|
|||
<p>Wenn du die Fahrgeschwindigkeit auf eine sehr kleine Zahl einstellst, kann es sein, dass sich der Roboter gar nicht mehr bewegt, weil die Motoren eine bestimmte Menge an Energie benötigen, um den Roboter überhaupt zu bewegen.</p>
|
||||
<p><strong>3. Fahren Sie nicht zu schnell.</strong></p>
|
||||
<p>Wenn du die Fahrgeschwindigkeit auf eine sehr hohe Zahl einstellst (z. B. <code class="docutils literal notranslate"><span class="pre">100</span></code>), könnte dein Roboter zu schnell für seine Sensoren sein. Dies wird später wichtig sein, wenn wir versuchen, eine schwarze Linie zu erkennen, aber zu schnell über sie fahren.</p>
|
||||
</div>
|
||||
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|
||||
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|
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|
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|
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<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
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<body class="wy-body-for-nav">
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<img src="../_static/compair-logo-white.svg" class="logo" alt="Logo"/>
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@ -75,18 +40,7 @@
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<li class="toctree-l2"><a class="reference internal" href="wifi.html">WLAN-Verbindung herstellen</a></li>
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@ -103,73 +57,33 @@
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<h1>Mein drittes Programm<a class="headerlink" href="#mein-drittes-programm" title="Permalink to this heading">¶</a></h1>
|
||||
|
||||
<section id="mein-drittes-programm">
|
||||
<h1>Mein drittes Programm<a class="headerlink" href="#mein-drittes-programm" title="Permalink to this heading"></a></h1>
|
||||
<p>Der offizielle compAIR-Bot ist mit einer Reihe von Sensoren ausgestattet. Die wichtigsten sind die Infrarotsensoren und -sender, die an der Vorderseite des Roboters angebracht sind. Insgesamt gibt es fünf IR-Sensoren.</p>
|
||||
<p>Um loszulegen, muss man zunächst das entsprechende Modul wie folgt importieren:</p>
|
||||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">1</span><span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
|
||||
|
|
@ -218,62 +132,37 @@ Um den IR-Sensor zu testen, kannst du deinen Roboter auf eine schwarze Linie ste
|
|||
<div class="line">In <code class="docutils literal notranslate"><span class="pre">Zeile</span> <span class="pre">6</span></code> lesen wir den Sensor Nummer <code class="docutils literal notranslate"><span class="pre">2</span></code> aus und prüfen, ob der Wert über dem von uns definierten Schwellenwert von <code class="docutils literal notranslate"><span class="pre">900</span></code> liegt. Wenn das der Fall ist, hat der IR-Sensor eine schwarze Linie erkannt.</div>
|
||||
</div>
|
||||
<p>Wir werden nun das Programm so ändern, dass es alle <code class="docutils literal notranslate"><span class="pre">0.1</span></code> Sekunden prüft, ob sich eine schwarze Linie unter dem Roboter befindet, und wenn dies der Fall ist, eine Meldung ausgibt.</p>
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<script src="../_static/underscore.js"></script>
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||||
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|
@ -35,39 +18,21 @@
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<script src="../_static/doctools.js"></script>
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@ -75,18 +40,7 @@
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<li class="toctree-l2 current"><a class="current reference internal" href="#">WLAN-Verbindung herstellen</a><ul>
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|
@ -109,75 +63,35 @@
|
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<li class="toctree-l1"><a class="reference internal" href="../other/hardware.html">Hardware</a></li>
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<div class="section" id="wlan-verbindung-herstellen">
|
||||
<span id="gettingstarted-wifi"></span><h1>WLAN-Verbindung herstellen<a class="headerlink" href="#wlan-verbindung-herstellen" title="Permalink to this heading">¶</a></h1>
|
||||
<div class="section" id="schritt-fur-schritt-macos">
|
||||
<h2>Schritt für Schritt - macOS<a class="headerlink" href="#schritt-fur-schritt-macos" title="Permalink to this heading">¶</a></h2>
|
||||
|
||||
<section id="wlan-verbindung-herstellen">
|
||||
<span id="gettingstarted-wifi"></span><h1>WLAN-Verbindung herstellen<a class="headerlink" href="#wlan-verbindung-herstellen" title="Permalink to this heading"></a></h1>
|
||||
<section id="schritt-fur-schritt-macos">
|
||||
<h2>Schritt für Schritt - macOS<a class="headerlink" href="#schritt-fur-schritt-macos" title="Permalink to this heading"></a></h2>
|
||||
<ol class="arabic">
|
||||
<li><p>SD-Karte aus dem Raspberry Pi bzw. Roboter entnehmen.</p></li>
|
||||
<li><p>Einstecken der SD-Karte in den Computer</p></li>
|
||||
|
|
@ -200,20 +114,20 @@
|
|||
<li><p>Starten des Roboters</p></li>
|
||||
<li><p>Die IP-Adresse sollte nun am Roboter angezeigt werden</p></li>
|
||||
</ol>
|
||||
</div>
|
||||
<div class="section" id="weitere-informationen">
|
||||
<h2>Weitere Informationen<a class="headerlink" href="#weitere-informationen" title="Permalink to this heading">¶</a></h2>
|
||||
</section>
|
||||
<section id="weitere-informationen">
|
||||
<h2>Weitere Informationen<a class="headerlink" href="#weitere-informationen" title="Permalink to this heading"></a></h2>
|
||||
<p>Die „wpa_supplicant.conf“ Datei wird beim Start des Rpasberry Pi automatisch an den richtigen Ort kopiert, damit sich der Roboter zum Wlan verbindet.
|
||||
Eine genauere Anleitung wird vom Hersteller des Raspberry Pi <a class="reference external" href="https://www.raspberrypi.com/documentation/computers/configuration.html#configuring-networking-2">hier</a> bereitgestellt.</p>
|
||||
</div>
|
||||
<div class="section" id="windows">
|
||||
<h2>Windows……<a class="headerlink" href="#windows" title="Permalink to this heading">¶</a></h2>
|
||||
</section>
|
||||
<section id="windows">
|
||||
<h2>Windows……<a class="headerlink" href="#windows" title="Permalink to this heading"></a></h2>
|
||||
<p>Je nach Betriebssystem und Editor, mit dem Sie die Datei erstellen, könnte die Datei falsche Zeilenumbrüche oder eine falsche Dateierweiterung haben; stellen Sie also sicher, dass Sie einen Editor verwenden, der dies berücksichtigt. Linux erwartet das Zeilenumbruchzeichen LF (Line Feed).
|
||||
Beispielsweise kann <a class="reference external" href="https://notepad-plus-plus.org/downloads/">Notepad++</a> verwendet werden, um die Datei richtig zu speichern.
|
||||
<img alt="notepadImage" src="../_images/08_notepad.png" /></p>
|
||||
</div>
|
||||
<div class="section" id="fehlerbehandlung">
|
||||
<h2>Fehlerbehandlung<a class="headerlink" href="#fehlerbehandlung" title="Permalink to this heading">¶</a></h2>
|
||||
</section>
|
||||
<section id="fehlerbehandlung">
|
||||
<h2>Fehlerbehandlung<a class="headerlink" href="#fehlerbehandlung" title="Permalink to this heading"></a></h2>
|
||||
<p>Sollte es dazu kommen, dass der Roboter nicht automatisch die Verbindung mit dem Netzwerk herstellt, kann eine Kabelgebundene Verbindung zur Diagnose von Fehlern genutzt werden.
|
||||
Dabei wird automatisch die IP-Adresse der Verbindung „eth“ am Roboter angezeigt. Nach der erfolgreichen Verbindung zum Roboter mittels SSH kann die „wpa_cli“ zur Fehlerbehandlung verwendet werden:</p>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">></span> <span class="n">wpa_cli</span>
|
||||
|
|
@ -254,63 +168,38 @@ Dabei wird automatisch die IP-Adresse der Verbindung „eth“ am Roboter angeze
|
|||
<span class="o">></span>
|
||||
</pre></div>
|
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</div>
|
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</div>
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