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auto-plow / c7eae65

A wheelchair motor-propelled battery-powered ESP32-driven remote control snow plow.

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4519 Jan 2019 02:2746bf634Remote controljoshuas31697N

Blob @ auto-plow / src / ard1 / ard1.cpp

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1#include "Arduino.h"
2#include "ard1.h"
3#include "serial.h"
4#include "reset.h"
5
6#include "RoboClaw.h"
7
8
9void oninput(String message);
10
11// One time
12void setup() {
13 pinMode(PIN_RESET, INPUT);
14 digitalWrite(PIN_RESET, LOW);
15 serial();
16 Serial.println("ARD1: Motor Controller Active");
17 pinMode(PIN_BRAKES, OUTPUT);
18 pinMode(PIN_MR_D, OUTPUT);
19 pinMode(PIN_MR_R, OUTPUT);
20 pinMode(PIN_ML_D, OUTPUT);
21 pinMode(PIN_ML_R, OUTPUT);
22 pinMode(7, INPUT);
23 pinMode(4, OUTPUT);
24 digitalWrite(4, HIGH);
25 pinMode(PIN_CH_1, INPUT);
26 pinMode(PIN_CH_2, INPUT);
27 pinMode(PIN_CH_3, INPUT);
28}
29
30int brakes = 1;
31int ml = 0;
32int mr = 0;
33
34void oninput (String message) {
35 Serial.print("ARD1: Received information - ");
36 Serial.println(message);
37 if (message == String("Restart")) {
38 Serial.println("ARD1: Restarting...");
39 delay(500);
40 reset();
41 } else if (message == String("b0")) {
42 Serial.println("ARD1: Turning brakes off");
43 brakes = 0;
44 digitalWrite(PIN_BRAKES, HIGH);
45 } else if (message == String("b1")) {
46 Serial.println("ARD1: Turning brakes on");
47 brakes = 1;
48 digitalWrite(PIN_MR_D, LOW);
49 digitalWrite(PIN_MR_R, LOW);
50 digitalWrite(PIN_ML_D, LOW);
51 digitalWrite(PIN_ML_R, LOW);
52 if (mr != 0 || ml != 0) delay(CHANGE_DELAY);
53 mr = 0;
54 ml = 0;
55 digitalWrite(PIN_BRAKES, LOW);
56 }
57 if (brakes == 1) return;
58 if (message == String("mr0")) {
59 Serial.println("ARD1: Turning MotorRight off");
60 digitalWrite(PIN_MR_D, LOW);
61 digitalWrite(PIN_MR_R, LOW);
62 mr = 0;
63 } else if (message == String("mr1")) {
64 Serial.println("ARD1: Turning MotorRight on (drive)");
65 digitalWrite(PIN_MR_R, LOW);
66 if (mr == -1) delay(CHANGE_DELAY);
67 mr = 1;
68 digitalWrite(PIN_MR_D, HIGH);
69 } else if (message == String("mr-1")) {
70 Serial.println("ARD1: Turning MotorRight on (reverse)");
71 digitalWrite(PIN_MR_D, LOW);
72 if (mr == 1) delay(CHANGE_DELAY);
73 mr = -1;
74 digitalWrite(PIN_MR_R, HIGH);
75 } else if (message == String("ml0")) {
76 Serial.println("ARD1: Turning MotorLeft off");
77 ml = 0;
78 digitalWrite(PIN_ML_D, LOW);
79 digitalWrite(PIN_ML_R, LOW);
80 } else if (message == String("ml1")) {
81 Serial.println("ARD1: Turning MotorLeft on (drive)");
82 digitalWrite(PIN_ML_R, LOW);
83 if (ml == -1) delay(CHANGE_DELAY);
84 ml = 1;
85 digitalWrite(PIN_ML_D, HIGH);
86 } else if (message == String("ml-1")) {
87 Serial.println("ARD1: Turning MotorLeft on (reverse)");
88 digitalWrite(PIN_ML_D, LOW);
89 if (ml == 1) delay(CHANGE_DELAY);
90 ml = -1;
91 digitalWrite(PIN_ML_R, HIGH);
92 } else if (message == String("m0")) {
93 Serial.println("ARD1: Turning both motors off");
94 digitalWrite(PIN_MR_D, LOW);
95 digitalWrite(PIN_MR_R, LOW);
96 digitalWrite(PIN_ML_D, LOW);
97 digitalWrite(PIN_ML_R, LOW);
98 mr = 0;
99 ml = 0;
100 } else if (message == String("m1")) {
101 Serial.println("ARD1: Turning both motors on (Drive)");
102 digitalWrite(PIN_MR_R, LOW);
103 digitalWrite(PIN_ML_R, LOW);
104 if (mr == -1 || ml == -1) delay(CHANGE_DELAY);
105 mr = 1;
106 ml = 1;
107 digitalWrite(PIN_MR_D, HIGH);
108 digitalWrite(PIN_ML_D, HIGH);
109 } else if (message == String("m-1")) {
110 Serial.println("ARD1: Turning both motors on (Reverse)");
111 digitalWrite(PIN_MR_D, LOW);
112 digitalWrite(PIN_ML_D, LOW);
113 if (mr == 1 || ml == 1) delay(CHANGE_DELAY);
114 mr = -1;
115 ml = -1;
116 digitalWrite(PIN_MR_R, HIGH);
117 digitalWrite(PIN_ML_R, HIGH);
118 }
119}
120
121// Repeatedly
122void loop() {
123 int sensorValue2 = pulseIn(7, HIGH);
124 if (sensorValue2 > 100) Serial.println(sensorValue2);
125}
126
127void laoop() {
128 if (Serial.available() > 0) oninput(Serial.readStringUntil(';'));
129 int ch1 = pulseIn(PIN_CH_1, HIGH);
130 int ch2 = pulseIn(PIN_CH_2, HIGH);
131 int ch3 = pulseIn(PIN_CH_3, HIGH);
132
133 int ch1_fixed = map(ch1, 1106, 1992, -500, 500);
134 int ch2_fixed = map(ch2, 997, 1992, -500, 500);
135 int ch3_fixed = map(ch3, 993, 1876, -500, 500);
136
137 Serial.print(ch1_fixed);
138 Serial.print("\t");
139 Serial.print(ch2_fixed);
140 Serial.print("\t");
141 Serial.print(ch3_fixed);
142 Serial.println();
143
144 if (ch3_fixed < -300) {
145 oninput("b0");
146 } else oninput("b1");
147
148 if (ch1_fixed > 300) {
149 oninput("mr-1");
150 oninput("ml1");
151 return;
152 } else if (ch1_fixed < -300) {
153 oninput("ml-1");
154 oninput("mr1");
155 return;
156 }
157 if (ch2_fixed > 300) {
158 oninput("m1");
159 } else if (ch2_fixed < -300) {
160 oninput("m-1");
161 } else oninput("m0");
162}
163