code
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code [2014/02/01 00:17] jgensler8 created |
code [2014/02/15 01:13] (current) jgensler8 |
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| Line 1: | Line 1: | ||
| + | ====== Headline ====== | ||
| + | <code> | ||
| /* | /* | ||
| - | read from a software serial connection (Raspberry Pi) | + | SoftwareSerial to ttyAMA0 |
| */ | */ | ||
| #include <SoftwareSerial.h> | #include <SoftwareSerial.h> | ||
| + | |||
| + | #define PULSE_A 3 | ||
| + | #define PULSE_B 11 | ||
| + | #define DIR_A 12 | ||
| + | #define DIR_B 13 | ||
| SoftwareSerial mySerial(8, 9); // RX, TX | SoftwareSerial mySerial(8, 9); // RX, TX | ||
| + | char serialIn; | ||
| + | int movementTime = 1000; | ||
| + | int basicPower = 50; | ||
| void setup() | void setup() | ||
| { | { | ||
| + | //serial communication | ||
| Serial.begin(4800); | Serial.begin(4800); | ||
| while (!Serial) { | while (!Serial) { | ||
| Line 15: | Line 26: | ||
| Serial.println("Started"); | Serial.println("Started"); | ||
| mySerial.begin(9600); | mySerial.begin(9600); | ||
| + | | ||
| + | //set the motor pins | ||
| + | pinMode( PULSE_A, OUTPUT); | ||
| + | pinMode( PULSE_B, OUTPUT); | ||
| + | pinMode( DIR_A, OUTPUT); | ||
| + | pinMode( DIR_B, OUTPUT); | ||
| + | | ||
| + | digitalWrite( PULSE_A, LOW); | ||
| + | digitalWrite( PULSE_B, LOW); | ||
| + | digitalWrite( DIR_A, LOW); | ||
| + | digitalWrite( DIR_B, LOW); | ||
| + | | ||
| + | /* | ||
| + | analogWrite( PULSE_A, 100); | ||
| + | analogWrite( PULSE_B, 100); | ||
| + | */ | ||
| } | } | ||
| void loop() | void loop() | ||
| { | { | ||
| - | if (mySerial.available()) | + | if (mySerial.available()){ |
| - | Serial.write(mySerial.read()); | + | serialIn = mySerial.read(); |
| + | Serial.print( serialIn); | ||
| + | if( serialIn == '+' ){ | ||
| + | goForward( movementTime, basicPower); | ||
| + | } | ||
| + | else if( serialIn == '-'){ | ||
| + | //goReverse( movementTime, basicPower); | ||
| + | } | ||
| + | else if( serialIn == '>'){ | ||
| + | turnRight(movementTime, basicPower); | ||
| + | } | ||
| + | else if( serialIn == '<'){ | ||
| + | turnLeft(movementTime, basicPower); | ||
| + | } | ||
| + | } | ||
| if (Serial.available()) | if (Serial.available()) | ||
| mySerial.write(Serial.read()); | mySerial.write(Serial.read()); | ||
| } | } | ||
| + | void goForward(int time, int power){ | ||
| + | digitalWrite( PULSE_A, HIGH); | ||
| + | digitalWrite( PULSE_B, HIGH); | ||
| + | delay(time); | ||
| + | analogWrite( PULSE_A, power); | ||
| + | analogWrite( PULSE_B, power); | ||
| + | //delay(time); | ||
| + | analogWrite( PULSE_A, 0); | ||
| + | analogWrite( PULSE_B, 0); | ||
| + | digitalWrite( PULSE_A, LOW); | ||
| + | digitalWrite( PULSE_B, LOW); | ||
| + | } | ||
| + | |||
| + | /* | ||
| + | //as far as we know, this will never work... | ||
| + | void goReverse( int time, int power){ | ||
| + | digitalWrite( PULSE_A, HIGH); | ||
| + | digitalWrite( PULSE_B, HIGH); | ||
| + | delay(time); | ||
| + | analogWrite( PULSE_A, power); | ||
| + | analogWrite( PULSE_B, power); | ||
| + | //delay(time); | ||
| + | analogWrite( PULSE_A, 0); | ||
| + | analogWrite( PULSE_B, 0); | ||
| + | digitalWrite( PULSE_A, LOW); | ||
| + | digitalWrite( PULSE_B, LOW); | ||
| + | } | ||
| + | */ | ||
| + | |||
| + | void turnLeft(int time, int power){ | ||
| + | digitalWrite( PULSE_A, HIGH); | ||
| + | delay(time); | ||
| + | analogWrite( PULSE_A, power); | ||
| + | //delay(time); | ||
| + | analogWrite( PULSE_A, 0); | ||
| + | digitalWrite( PULSE_A, LOW); | ||
| + | } | ||
| + | |||
| + | void turnRight(int time, int power){ | ||
| + | digitalWrite( PULSE_B, HIGH); | ||
| + | delay(time); | ||
| + | analogWrite( PULSE_B, power); | ||
| + | //delay(time); | ||
| + | analogWrite( PULSE_B, 0); | ||
| + | digitalWrite( PULSE_B, LOW); | ||
| + | } | ||
| + | </code> | ||
code.1391213827.txt.gz · Last modified: 2014/02/01 00:17 by jgensler8
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