| 1 | #include "Arduino.h" |
| 2 | #include "ard1.h" |
| 3 | #include "serial.h" |
| 4 | #include "reset.h" |
| 5 |
|
| 6 |
|
| 7 | void oninput(String message); |
| 8 |
|
| 9 | // One time |
| 10 | void setup() { |
| 11 | digitalWrite(PIN_RESET, HIGH); |
| 12 | serial(); |
| 13 | Serial.println("ARD1: Motor Controller Active"); |
| 14 | pinMode(PIN_BRAKES, OUTPUT); |
| 15 | pinMode(PIN_MR_D, OUTPUT); |
| 16 | pinMode(PIN_MR_R, OUTPUT); |
| 17 | pinMode(PIN_ML_D, OUTPUT); |
| 18 | pinMode(PIN_ML_R, OUTPUT); |
| 19 | } |
| 20 |
|
| 21 | int brakes = 1; |
| 22 |
|
| 23 | void oninput (String message) { |
| 24 | Serial.print("ARD1: Received information - "); |
| 25 | Serial.println(message); |
| 26 | if (message == String("Restart")) { |
| 27 | Serial.println("ARD1: Restarting..."); |
| 28 | reset(); |
| 29 | } else if (message == String("b0")) { |
| 30 | Serial.println("ARD1: Turning brakes off"); |
| 31 | brakes = 0; |
| 32 | digitalWrite(PIN_BRAKES, HIGH); |
| 33 | } else if (message == String("b1")) { |
| 34 | Serial.println("ARD1: Turning brakes on"); |
| 35 | brakes = 1; |
| 36 | digitalWrite(PIN_MR_D, LOW); |
| 37 | digitalWrite(PIN_MR_R, LOW); |
| 38 | digitalWrite(PIN_ML_D, LOW); |
| 39 | digitalWrite(PIN_ML_R, LOW); |
| 40 | delay(CHANGE_DELAY); |
| 41 | digitalWrite(PIN_BRAKES, LOW); |
| 42 | } |
| 43 | if (brakes == 1) return; |
| 44 | if (message == String("mr0")) { |
| 45 | Serial.println("ARD1: Turning MotorRight off"); |
| 46 | digitalWrite(PIN_MR_D, LOW); |
| 47 | digitalWrite(PIN_MR_R, LOW); |
| 48 | } else if (message == String("mr1")) { |
| 49 | Serial.println("ARD1: Turning MotorRight on (drive)"); |
| 50 | digitalWrite(PIN_MR_R, LOW); |
| 51 | delay(CHANGE_DELAY); |
| 52 | digitalWrite(PIN_MR_D, HIGH); |
| 53 | } else if (message == String("mr-1")) { |
| 54 | Serial.println("ARD1: Turning MotorRight on (reverse)"); |
| 55 | digitalWrite(PIN_MR_D, LOW); |
| 56 | delay(CHANGE_DELAY); |
| 57 | digitalWrite(PIN_MR_R, HIGH); |
| 58 | } else if (message == String("ml0")) { |
| 59 | Serial.println("ARD1: Turning MotorLeft off"); |
| 60 | digitalWrite(PIN_ML_D, LOW); |
| 61 | digitalWrite(PIN_ML_R, LOW); |
| 62 | } else if (message == String("ml1")) { |
| 63 | Serial.println("ARD1: Turning MotorLeft on (drive)"); |
| 64 | digitalWrite(PIN_ML_R, LOW); |
| 65 | delay(CHANGE_DELAY); |
| 66 | digitalWrite(PIN_ML_D, HIGH); |
| 67 | } else if (message == String("ml-1")) { |
| 68 | Serial.println("ARD1: Turning MotorLeft on (reverse)"); |
| 69 | digitalWrite(PIN_ML_D, LOW); |
| 70 | delay(CHANGE_DELAY); |
| 71 | digitalWrite(PIN_ML_R, HIGH); |
| 72 | } else if (message == String("m0")) { |
| 73 | Serial.println("ARD1: Turning both motors off"); |
| 74 | digitalWrite(PIN_MR_D, LOW); |
| 75 | digitalWrite(PIN_MR_R, LOW); |
| 76 | digitalWrite(PIN_ML_D, LOW); |
| 77 | digitalWrite(PIN_ML_R, LOW); |
| 78 | } else if (message == String("m1")) { |
| 79 | Serial.println("ARD1: Turning both motors on (Drive)"); |
| 80 | digitalWrite(PIN_MR_R, LOW); |
| 81 | digitalWrite(PIN_ML_R, LOW); |
| 82 | delay(CHANGE_DELAY); |
| 83 | digitalWrite(PIN_MR_D, HIGH); |
| 84 | digitalWrite(PIN_ML_D, HIGH); |
| 85 | } else if (message == String("m-1")) { |
| 86 | Serial.println("ARD1: Turning both motors on (Reverse)"); |
| 87 | digitalWrite(PIN_MR_D, LOW); |
| 88 | digitalWrite(PIN_ML_D, LOW); |
| 89 | delay(CHANGE_DELAY); |
| 90 | digitalWrite(PIN_MR_R, HIGH); |
| 91 | digitalWrite(PIN_ML_R, HIGH); |
| 92 | } |
| 93 | } |
| 94 |
|
| 95 | // Repeatedly |
| 96 | void loop() { |
| 97 | if (Serial.available() > 0) oninput(Serial.readStringUntil(';')); |
| 98 | delay(500); |
| 99 | } |
| 100 |
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Index