Programm

All boards communicate with each other via I2C. The main board is the master and all others are the slaves.

Main

Programm

Scann I2C Devices

          
    nDevices = 0;
    display.clearDisplay();
    for(address = 1; address < 127; address++ )
    {
          
        Wire.beginTransmission(address);
        error = Wire.endTransmission();
           
        if (error == 0)
            {
          
            device[address] = 1;
            display.setCursor(3,nDevices * 10);
            display.setTextSize(1);
                
            display.print(address);
            display.print(" "); 
                
            if(namen[address] == "0"){
                display.println("unknown");
            }else{
                display.println(namen[address]);
            }
                display.display();
                nDevices++;
            }
        }
  
        
      

Line follower

Programm

      
          
    byte myArray[2];

    void onI2CRequest() {
 
        setNum(analogRead(A0));
        TinyWire.write(myArray[0]);
        TinyWire.write(myArray[1]);

        setNum(analogRead(A1));
        TinyWire.write(myArray[0]);
        TinyWire.write(myArray[1]);

        setNum(analogRead(A2));
        TinyWire.write(myArray[0]);
        TinyWire.write(myArray[1]);

    }

    void setNum(int n){
        myArray[0] = (n >> 8) & 0xFF;
        myArray[1] = n & 0xFF;
    }

    
  

Ultrsonic Sensor Board

Programm

          

    byte myArray[2];
    void onI2CRequest() {
   
    int it =2;
    int count = 0;
    for(int i = 0 ; i < it; i++){
        digitalWrite(trigger, LOW); 
        delay(5); //Dauer: 5 Millisekunden
        digitalWrite(trigger, HIGH);
        delay(10); 
        digitalWrite(trigger, LOW);
        dauer = pulseIn(echo, HIGH); 
        count = count + (dauer/2) * 0.03432; 
   
        delay(50);
    }
    entfernung = count / it;

    setNum(entfernung);
    TinyWire.write(myArray[0]);
    TinyWire.write(myArray[1]);

}

void setNum(int n){
  myArray[0] = (n >> 8) & 0xFF;
  myArray[1] = n & 0xFF;
}
  
        
      

Hbridge Board

Programm

          
              
    void stopAll(){
        for (int i = 0; i < 4 ; i++){
        digitalWrite(m[i], LOW);
        }
    }
  
    void setSped(int t){
        analogWrite(s[0],t);
        analogWrite(s[1],t);
    }
  
    //richtung 0->stop 1->forward 2->left 3->back 4->right
    //speed
    void fahren(int r, int sp){
    setSped(sp);
        if(r == 0){
            stopAll();  
        }else if(r == 1){
            digitalWrite(0, LOW);  
            digitalWrite(1, HIGH);  
            digitalWrite(2, LOW);
            digitalWrite(3, HIGH);    
        }else if(r == 2){
            digitalWrite(0, LOW);
            digitalWrite(1, HIGH);  
            digitalWrite(2, HIGH);
            digitalWrite(3, LOW);
        }else if(r == 3){
            digitalWrite(0, HIGH);  
            digitalWrite(1, LOW);
            digitalWrite(2, HIGH);
            digitalWrite(3, LOW);
        }else if(r == 4){
            digitalWrite(0, HIGH);  
            digitalWrite(1, LOW);
            digitalWrite(2, LOW);
            digitalWrite(3, HIGH);
        }
    }
  
    void onI2CRequest() {
        while (TinyWire.available()) { 
            int r = TinyWire.read();
            int sp = TinyWire.read();
            fahren(r,sp);
            TinyWire.send(r);
        } 
  }
  
        
      

Downlowds

• Programm