| 1 | #include "Arduino.h" |
| 2 | #include "ard1.h" |
| 3 | #include "serial.h" |
| 4 | #include "reset.h" |
| 5 |
|
| 6 | #include "SoftwareSerial.h" |
| 7 |
|
| 8 |
|
| 9 | void oninput(String message); |
| 10 | SoftwareSerial roboclaw(0, 1); |
| 11 |
|
| 12 | // One time |
| 13 | void setup() { |
| 14 | pinMode(PIN_RESET, INPUT); |
| 15 | digitalWrite(PIN_RESET, LOW); |
| 16 | serial(); |
| 17 | roboclaw.begin(9600); |
| 18 | Serial.println("ARD1: Motor Controller Active"); |
| 19 | pinMode(PIN_BRAKES, OUTPUT); |
| 20 | pinMode(PIN_MR_D, OUTPUT); |
| 21 | pinMode(PIN_MR_R, OUTPUT); |
| 22 | pinMode(PIN_ML_D, OUTPUT); |
| 23 | pinMode(PIN_ML_R, OUTPUT); |
| 24 | pinMode(7, INPUT); |
| 25 | pinMode(4, OUTPUT); |
| 26 | digitalWrite(4, HIGH); |
| 27 | pinMode(PIN_CH_1, INPUT); |
| 28 | pinMode(PIN_CH_2, INPUT); |
| 29 | pinMode(PIN_CH_3, INPUT); |
| 30 | } |
| 31 |
|
| 32 | int brakes = 1; |
| 33 | int ml = 0; |
| 34 | int mr = 0; |
| 35 |
|
| 36 | void oninput (String message) { |
| 37 | Serial.print("ARD1: Received information - "); |
| 38 | Serial.println(message); |
| 39 | if (message == String("Restart")) { |
| 40 | Serial.println("ARD1: Restarting..."); |
| 41 | delay(500); |
| 42 | reset(); |
| 43 | } else if (message == String("b0")) { |
| 44 | Serial.println("ARD1: Turning brakes off"); |
| 45 | brakes = 0; |
| 46 | digitalWrite(PIN_BRAKES, HIGH); |
| 47 | } else if (message == String("b1")) { |
| 48 | Serial.println("ARD1: Turning brakes on"); |
| 49 | brakes = 1; |
| 50 | digitalWrite(PIN_MR_D, LOW); |
| 51 | digitalWrite(PIN_MR_R, LOW); |
| 52 | digitalWrite(PIN_ML_D, LOW); |
| 53 | digitalWrite(PIN_ML_R, LOW); |
| 54 | if (mr != 0 || ml != 0) delay(CHANGE_DELAY); |
| 55 | mr = 0; |
| 56 | ml = 0; |
| 57 | digitalWrite(PIN_BRAKES, LOW); |
| 58 | } |
| 59 | if (brakes == 1) return; |
| 60 | if (message == String("mr0")) { |
| 61 | Serial.println("ARD1: Turning MotorRight off"); |
| 62 | digitalWrite(PIN_MR_D, LOW); |
| 63 | digitalWrite(PIN_MR_R, LOW); |
| 64 | mr = 0; |
| 65 | } else if (message == String("mr1")) { |
| 66 | Serial.println("ARD1: Turning MotorRight on (drive)"); |
| 67 | digitalWrite(PIN_MR_R, LOW); |
| 68 | if (mr == -1) delay(CHANGE_DELAY); |
| 69 | mr = 1; |
| 70 | digitalWrite(PIN_MR_D, HIGH); |
| 71 | } else if (message == String("mr-1")) { |
| 72 | Serial.println("ARD1: Turning MotorRight on (reverse)"); |
| 73 | digitalWrite(PIN_MR_D, LOW); |
| 74 | if (mr == 1) delay(CHANGE_DELAY); |
| 75 | mr = -1; |
| 76 | digitalWrite(PIN_MR_R, HIGH); |
| 77 | } else if (message == String("ml0")) { |
| 78 | Serial.println("ARD1: Turning MotorLeft off"); |
| 79 | ml = 0; |
| 80 | digitalWrite(PIN_ML_D, LOW); |
| 81 | digitalWrite(PIN_ML_R, LOW); |
| 82 | } else if (message == String("ml1")) { |
| 83 | Serial.println("ARD1: Turning MotorLeft on (drive)"); |
| 84 | digitalWrite(PIN_ML_R, LOW); |
| 85 | if (ml == -1) delay(CHANGE_DELAY); |
| 86 | ml = 1; |
| 87 | digitalWrite(PIN_ML_D, HIGH); |
| 88 | } else if (message == String("ml-1")) { |
| 89 | Serial.println("ARD1: Turning MotorLeft on (reverse)"); |
| 90 | digitalWrite(PIN_ML_D, LOW); |
| 91 | if (ml == 1) delay(CHANGE_DELAY); |
| 92 | ml = -1; |
| 93 | digitalWrite(PIN_ML_R, HIGH); |
| 94 | } else if (message == String("m0")) { |
| 95 | Serial.println("ARD1: Turning both motors off"); |
| 96 | digitalWrite(PIN_MR_D, LOW); |
| 97 | digitalWrite(PIN_MR_R, LOW); |
| 98 | digitalWrite(PIN_ML_D, LOW); |
| 99 | digitalWrite(PIN_ML_R, LOW); |
| 100 | mr = 0; |
| 101 | ml = 0; |
| 102 | } else if (message == String("m1")) { |
| 103 | Serial.println("ARD1: Turning both motors on (Drive)"); |
| 104 | digitalWrite(PIN_MR_R, LOW); |
| 105 | digitalWrite(PIN_ML_R, LOW); |
| 106 | if (mr == -1 || ml == -1) delay(CHANGE_DELAY); |
| 107 | mr = 1; |
| 108 | ml = 1; |
| 109 | digitalWrite(PIN_MR_D, HIGH); |
| 110 | digitalWrite(PIN_ML_D, HIGH); |
| 111 | } else if (message == String("m-1")) { |
| 112 | Serial.println("ARD1: Turning both motors on (Reverse)"); |
| 113 | digitalWrite(PIN_MR_D, LOW); |
| 114 | digitalWrite(PIN_ML_D, LOW); |
| 115 | if (mr == 1 || ml == 1) delay(CHANGE_DELAY); |
| 116 | mr = -1; |
| 117 | ml = -1; |
| 118 | digitalWrite(PIN_MR_R, HIGH); |
| 119 | digitalWrite(PIN_ML_R, HIGH); |
| 120 | } |
| 121 | } |
| 122 |
|
| 123 | byte zero = 0; |
| 124 | // Repeatedly |
| 125 | void loop() { |
| 126 | if (Serial.available()) oninput(Serial.readStringUntil(';')); |
| 127 | roboclaw.write(1); |
| 128 | roboclaw.write(-127); |
| 129 | delay(2000); |
| 130 | roboclaw.write(64); |
| 131 | delay(1000); |
| 132 | roboclaw.write(127); |
| 133 | roboclaw.write(-1); |
| 134 | delay(2000); |
| 135 | roboclaw.write(-64); |
| 136 | delay(1000); |
| 137 | roboclaw.write(1); |
| 138 | roboclaw.write(-1); |
| 139 | delay(2000); |
| 140 | roboclaw.write(zero); |
| 141 | delay(1000); |
| 142 | roboclaw.write(127); |
| 143 | roboclaw.write(-127); |
| 144 | delay(2000); |
| 145 | roboclaw.write(zero); |
| 146 | delay(1000); |
| 147 | } |
| 148 |
|
| 149 |
|
Index