From 0ac5316683646ec36107f182594527f209ee3b27 Mon Sep 17 00:00:00 2001 From: Dimitri Sokolyuk Date: Sun, 27 Aug 2017 00:50:16 +0200 Subject: rename --- elegoo/elegoo.ino | 144 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 144 insertions(+) create mode 100644 elegoo/elegoo.ino (limited to 'elegoo/elegoo.ino') diff --git a/elegoo/elegoo.ino b/elegoo/elegoo.ino new file mode 100644 index 0000000..c0a151a --- /dev/null +++ b/elegoo/elegoo.ino @@ -0,0 +1,144 @@ +// Dimitri Sokolyuk +// 01.01.2017 + +#include +#include +#include +#include + +#include +#include + +#include "elegoo.pb.h" +#include "config.h" + +PacketSerial serial; +Servo servo; +Timer timer; +IRrecv irrecv(IR); +decode_results ir; + +void motor(int e, int a, int b, int v) { + if (v == 0) { + digitalWrite(a, LOW); + digitalWrite(b, LOW); + } else if (v > 0) { + digitalWrite(a, LOW); + digitalWrite(b, HIGH); + } else if (v < 0) { + digitalWrite(a, HIGH); + digitalWrite(b, LOW); + v = -v; + } + analogWrite(e, v); +} + +#define motorR(v) motor(ENA, IN1, IN2, v) +#define motorL(v) motor(ENB, IN3, IN4, v) + +int distance() { + digitalWrite(Trig, LOW); + delayMicroseconds(2); + digitalWrite(Trig, HIGH); + delayMicroseconds(18); + digitalWrite(Trig, LOW); + return pulseIn(Echo, HIGH, TimeOut) / ToCM; +} + +void stop() { + motorR(0); + motorL(0); +} + +void onPacket(const uint8_t* buf, size_t size) { + Command cmd = Command_init_zero; + + pb_istream_t istream = pb_istream_from_buffer(buf, size); + pb_decode_delimited(&istream, Command_fields, &cmd); + + if (cmd.has_SpeedR) { + motorR(cmd.SpeedR); + } + if (cmd.has_SpeedL) { + motorL(cmd.SpeedL); + } + if (cmd.has_Stop) { + stop(); + } + if (cmd.has_Direction) { + servo.write(cmd.Direction); + } + if (cmd.has_StopAfter) { + timer.after(cmd.StopAfter, stop); + } +} + +void events() { + uint8_t buf[64]; + + Events evt = Events_init_zero; + + evt.Distance = distance(); + evt.has_Distance = evt.Distance > 0; + + evt.SensorR = digitalRead(SR); + evt.has_SensorR = true; + + evt.SensorC = digitalRead(SC); + evt.has_SensorC = true; + + evt.SensorL = digitalRead(SL); + evt.has_SensorL = true; + + if (irrecv.decode(&ir)) { + evt.KeyPress = ir.value; + evt.has_KeyPress = ir.bits > 0; + irrecv.resume(); + } + + evt.Direction = servo.read(); + evt.has_Direction = true; + + evt.Time = millis(); + evt.has_Time = true; + + pb_ostream_t ostream = pb_ostream_from_buffer(buf, sizeof(buf)); + pb_encode_delimited(&ostream, Events_fields, &evt); + + serial.send(buf, ostream.bytes_written); +} + +void loop() { + timer.update(); + serial.update(); +} + +void setup() { + serial.begin(57600); + serial.setPacketHandler(&onPacket); + + pinMode(Echo, INPUT); + pinMode(Trig, OUTPUT); + + pinMode(IN1, OUTPUT); + pinMode(IN2, OUTPUT); + pinMode(IN3, OUTPUT); + pinMode(IN4, OUTPUT); + + pinMode(ENA, OUTPUT); + pinMode(ENB, OUTPUT); + pinMode(LED, OUTPUT); + + pinMode(SR, INPUT); + pinMode(SC, INPUT); + pinMode(SL, INPUT); + + pinMode(IR, INPUT); + irrecv.enableIRIn(); + + servo.attach(SRV); + servo.write(90); + + timer.every(100, events); + timer.oscillate(LED, 500, LOW); +} -- cgit v1.2.3