ArduinoStuff

diff --git a/car_driver/.vscode/arduino.json b/car_driver/.vscode/arduino.json
index f6fba73..5ef71f2 100644
--- a/car_driver/.vscode/arduino.json
+++ b/car_driver/.vscode/arduino.json

@@ -1,6 +1,6 @@

{

"board": "arduino:avr:uno",

"sketch": "arduino/arduino.ino",

- "port": "/dev/ttyACM0",

+ "port": "/dev/ttyACM1",

"output": "/tmp/arduinologs"

} \ No newline at end of file

diff --git a/car_driver/.vscode/settings.json b/car_driver/.vscode/settings.json
index d3ba527..94de60a 100644
--- a/car_driver/.vscode/settings.json
+++ b/car_driver/.vscode/settings.json

@@ -1,4 +1,5 @@

{

"C_Cpp.errorSquiggles": "Disabled",

- "arduino.defaultBaudRate": 9600

+ "arduino.defaultBaudRate": 9600,

+ "arduino.clearOutputOnBuild": true

}

diff --git a/car_driver/arduino/arduino.ino b/car_driver/arduino/arduino.ino
index 98e1b2c..6c5f4e6 100644
--- a/car_driver/arduino/arduino.ino
+++ b/car_driver/arduino/arduino.ino

@@ -1,5 +1,4 @@

#define HEADER 'H'

-#define TOTAL_BYTES 3

const int MOVE_FORWARD[2] = {0, 2}; // 2 == -1 == up

const int MOVE_LEFT[2] = {2, 0}; // move left

@@ -11,45 +10,50 @@ void setup() {

Serial.begin(9600);

Serial.println("initialized");

begin();

- processCommand(0, 2);

}

void loop() {

- if (Serial.available() >= TOTAL_BYTES) {

- // sample format: H11 or H02, etc.

- char header = Serial.read();

- if (header == HEADER) { // done reading header, next number is a tag

- char tmp = Serial.read();

- int x = (tmp - '0');

- tmp = Serial.read();

- int y = (tmp - '0');

- processCommand(x, y); // process the command

+ if (Serial.available() > 0) {

+ String string = Serial.readString();

+ string.trim();

+ char header = string[0];

+ if (header == HEADER) {

+ int delimiter = string.indexOf(',');

+ int x = string.substring(1, delimiter).toInt();

+ int y = string.substring(delimiter + 1).toInt();

+ processCommand(x, y);

+ } else {

+ Serial.println("wrong header: " + String(header));

}

+#define DEADZONE 10

// @param cmd the thing that tells it what to do, usually a vector(01, 22).

void processCommand(const int x, const int y) {

- const int cmd[] = {x, y};

- if (arrayCmp(cmd, MOVE_FORWARD)) {

- forward();

- } else if (arrayCmp(cmd, MOVE_STOP)) {

- stop();

- } else if (arrayCmp(cmd, MOVE_LEFT)) {

- left();

- } else if (arrayCmp(cmd, MOVE_RIGHT)) {

- right();

- } else if (arrayCmp(cmd, MOVE_BACK)) {

- backward();

+ if (x > 200 || x < 0 || y > 200 || y < 0) {

+ Serial.println("invalid command");

+ }

+ if (x < DEADZONE) {

+ // apply brakes to motora

+ brakeMotorA();

+ } else if (x > 100) {

+ motorABackward((x - 100) + 155);

} else {

- Serial.print("( ");

- Serial.print(x);

- Serial.print(", ");

- Serial.print(y);

- Serial.println(" ) Ignored");

+ // apply speed to motora

+ motorAForward(x + 155);

}

-bool arrayCmp(const int array[], const int array2[]) {

- return array[0] == array2[0] && array[1] == array2[1];

+ if (y < DEADZONE) {

+ // apply brakes to motorb

+ brakeMotorB();

+ } else if (y > 100) {

+ motorBBackward((y - 100) + 155);

+ } else {

+ // apply speed to motorb

+ motorBForward(y + 155);

+ }

+ Serial.print("x: ");

+ Serial.print(String(x));

+ Serial.print(" y: ");

+ Serial.println(String(y));

} \ No newline at end of file

diff --git a/car_driver/godot/Console.gd b/car_driver/godot/Console.gd
index 29ac7a9..ce199cf 100644
--- a/car_driver/godot/Console.gd
+++ b/car_driver/godot/Console.gd

@@ -1,10 +1,12 @@

extends RichTextLabel

class_name Console

+var thread = Thread.new()

-func _ready():

- SerialIO.connect("recieved", self, "add_text")

+func _physics_process(_delta:=0.0)->void:

+ thread.start(self, "readstring")

+ thread.wait_to_finish()

-func add_text(new: String):

- text += new

+func readstring()->void:

+ for _i in range(SerialIO.Serial.get_available()):

+ text += str(SerialIO.Serial.read()) \ No newline at end of file

diff --git a/car_driver/godot/Input.gd b/car_driver/godot/Input.gd
index 4606f45..bbc4e49 100644
--- a/car_driver/godot/Input.gd
+++ b/car_driver/godot/Input.gd

@@ -1,6 +1,9 @@

extends Node

-var input : Vector2

+var input: Vector2

+onready var lb = $Label

func prepare(v: Vector2) -> Vector2:

v = v.normalized()

@@ -8,18 +11,21 @@ func prepare(v: Vector2) -> Vector2:

v.x = 1 - v.x

if v.y < 0:

v.y = 1 - v.y

- v=v.round()

+ v = v.round()

return v

func _physics_process(_delta):

- var inp := get_input()

- if input != inp:

- print(inp)

- input = inp

- SerialIO.send("H%s%s" % [inp.x, inp.y])

-func get_input()->Vector2:

- var x := Input.get_axis("ui_left", "ui_right")

- var y := Input.get_axis("ui_up", "ui_down")

- return prepare(Vector2(x, y))

+ input = get_input()

+ lb.text =str(input)

+ SerialIO.send("H%s,%s" % [input.x, input.y])

+func get_input() -> Vector2:

+ var x := Input.get_action_strength("leftpaddle")

+ var y := Input.get_action_strength("rightpaddle")

+ if Input.is_action_pressed("lb"):

+ x = x + 1 if x != 0 else 1.01

+ if Input.is_action_pressed("rb"):

+ y = y + 1 if y != 0 else 1.01

+ return (Vector2(x, y) * 100).round()

diff --git a/car_driver/godot/Main.tscn b/car_driver/godot/Main.tscn
index f420f25..e223496 100644
--- a/car_driver/godot/Main.tscn
+++ b/car_driver/godot/Main.tscn

@@ -1,7 +1,8 @@

-[gd_scene load_steps=3 format=2]

+[gd_scene load_steps=4 format=2]

[ext_resource path="res://Console.tscn" type="PackedScene" id=1]

[ext_resource path="res://Input.gd" type="Script" id=2]

+[ext_resource path="res://theme.theme" type="Theme" id=3]

[node name="Main" type="Control"]

anchor_right = 1.0

@@ -11,3 +12,9 @@ anchor_bottom = 1.0

[node name="input" type="Node" parent="."]

script = ExtResource( 2 )

+[node name="Label" type="Label" parent="input"]

+margin_right = 40.0

+margin_bottom = 14.0

+theme = ExtResource( 3 )

+text = "input"

diff --git a/car_driver/godot/bin/linux64/libGDSercomm.so b/car_driver/godot/bin/linux64/libGDSercomm.so
index bf96e61..1922451 100644
--- a/car_driver/godot/bin/linux64/libGDSercomm.so
+++ b/car_driver/godot/bin/linux64/libGDSercomm.so

Binary files differ

diff --git a/car_driver/godot/project.godot b/car_driver/godot/project.godot
index c30ab58..52ee5a5 100644
--- a/car_driver/godot/project.godot
+++ b/car_driver/godot/project.godot

@@ -69,6 +69,26 @@ ui_down={

, Object(InputEventJoypadMotion,"resource_local_to_scene":false,"resource_name":"","device":0,"axis":1,"axis_value":1.0,"script":null)

]

}

+leftpaddle={

+"deadzone": 0.5,

+"events": [ Object(InputEventJoypadMotion,"resource_local_to_scene":false,"resource_name":"","device":0,"axis":6,"axis_value":1.0,"script":null)

+ ]

+rightpaddle={

+"deadzone": 0.5,

+"events": [ Object(InputEventJoypadMotion,"resource_local_to_scene":false,"resource_name":"","device":0,"axis":7,"axis_value":1.0,"script":null)

+ ]

+lb={

+"deadzone": 0.5,

+"events": [ Object(InputEventJoypadButton,"resource_local_to_scene":false,"resource_name":"","device":0,"button_index":4,"pressure":0.0,"pressed":false,"script":null)

+ ]

+rb={

+"deadzone": 0.5,

+"events": [ Object(InputEventJoypadButton,"resource_local_to_scene":false,"resource_name":"","device":0,"button_index":5,"pressure":0.0,"pressed":false,"script":null)

+ ]

[rendering]

diff --git a/car_driver/godot/serial.gd b/car_driver/godot/serial.gd
index dfb3a0f..6a1ba34 100644
--- a/car_driver/godot/serial.gd
+++ b/car_driver/godot/serial.gd

@@ -5,35 +5,6 @@ onready var Serial = preload("res://bin/GDsercomm.gdns").new()

const baud_rate := 9600

const endline := "\n"

-signal recieved(text)

-#a readline function, just add the current Port (based on sercomm)

-#and it will return a line, since sercomm always use a timeout, it should not lag

-func readline(port):

- if !port.has_method("read"): #to avoid problems

- return "NOT A PORT"

- var cho = ""

- var chango = ""

- while cho != endline:

- cho = port.read()

- if typeof(cho) == TYPE_STRING:

- if cho != endline:

- chango += cho

- else:

- chango = "FAILED"

- break

- return chango

-func _physics_process(_delta: float):

- var text = ""

- for _i in range(Serial.get_available()):

- text += str(Serial.read())

- if text:

- emit_signal("recieved", text)

func send(text: String) -> void: #"please only use ascii"

Serial.write(text)

diff --git a/car_driver/processing/processing.pde b/car_driver/processing/processing.pde
deleted file mode 100644
index 5e10e54..0000000
--- a/car_driver/processing/processing.pde
+++ /dev/null

@@ -1,45 +0,0 @@

-import processing.serial.*;

-private static char STOP = 'v';

-private static char HEADER = 'H';

-char current = STOP;

-Serial port;

-void setup() {

- frameRate(5);

- printArray(Serial.list());

- port = new Serial(this, Serial.list()[0], 9600);

-void draw() {} // Empty draw() needed to keep the program running

-void keyPressed() {

- updateKeys(key, true);

-void keyReleased() {

- updateKeys(key, false);

-boolean isValidKey(char key) {

- return key == 'a' || key == 'w' || key == 's' || key == 'd';

-void write(char key) {

- char data[] = {HEADER, key};

- String towrite = new String(data);

- println(towrite);

- port.write(towrite);

-void updateKeys(char key, boolean on) {

- if (isValidKey(key)) {

- if (!on || key != current) {

- current = on ? key : STOP;

- write(current);

- }