bendns' repos / ArduinoStuff
arduino stuffs
car go drive
Browse Source
bendn 2022-06-11
parent b2dc0ad · commit d7ae7d7
Diffstat
-rw-r--r--car_driver/.clang-format2
-rw-r--r--car_driver/.vscode/arduino.json6
-rw-r--r--car_driver/.vscode/c_cpp_properties.json537
-rw-r--r--car_driver/.vscode/settings.json4
-rw-r--r--car_driver/arduino/arduino.ino105
-rw-r--r--car_driver/arduino/drive.ino78
-rw-r--r--car_driver/car_driver.ino132
-rw-r--r--car_driver/move.ino241
-rw-r--r--car_driver/processing/processing.pde45
9 files changed, 777 insertions, 373 deletions
diff --git a/car_driver/.clang-format b/car_driver/.clang-format
new file mode 100644
index 0000000..0296909
--- /dev/null
+++ b/car_driver/.clang-format
@@ -0,0 +1,2 @@
+
+"BreakBeforeBraces": Attach \ No newline at end of file
diff --git a/car_driver/.vscode/arduino.json b/car_driver/.vscode/arduino.json
new file mode 100644
index 0000000..f6fba73
--- /dev/null
+++ b/car_driver/.vscode/arduino.json
@@ -0,0 +1,6 @@
+{
+ "board": "arduino:avr:uno",
+ "sketch": "arduino/arduino.ino",
+ "port": "/dev/ttyACM0",
+ "output": "/tmp/arduinologs"
+} \ No newline at end of file
diff --git a/car_driver/.vscode/c_cpp_properties.json b/car_driver/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..3d8779a
--- /dev/null
+++ b/car_driver/.vscode/c_cpp_properties.json
@@ -0,0 +1,537 @@
+{
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+ "__BUILTIN_AVR_ROUNDK=1",
+ "__BUILTIN_AVR_ROUNDR=1",
+ "__UHQ_IBIT__=0",
+ "__LLACCUM_IBIT__=16",
+ "__FLT32_EPSILON__=1.19209290e-7F32",
+ "__DBL_DECIMAL_DIG__=9",
+ "__STDC_UTF_32__=1",
+ "__INT_FAST8_WIDTH__=8",
+ "__DEC_EVAL_METHOD__=2",
+ "__TA_FBIT__=47",
+ "__UDQ_IBIT__=0",
+ "__ORDER_BIG_ENDIAN__=4321",
+ "__cpp_runtime_arrays=198712",
+ "__WITH_AVRLIBC__=1",
+ "__UINT64_TYPE__=long long unsigned int",
+ "__ACCUM_EPSILON__=0x1P-15K",
+ "__UINT32_C(c)=c ## UL",
+ "__BUILTIN_AVR_COUNTLSUHK=1",
+ "__INTMAX_MAX__=0x7fffffffffffffffLL",
+ "__cpp_alias_templates=200704",
+ "__BUILTIN_AVR_COUNTLSUHR=1",
+ "__BYTE_ORDER__=__ORDER_LITTLE_ENDIAN__",
+ "__FLT_DENORM_MIN__=1.40129846e-45F",
+ "__LLFRACT_IBIT__=0",
+ "__INT8_MAX__=0x7f",
+ "__LONG_WIDTH__=32",
+ "__UINT_FAST32_TYPE__=long unsigned int",
+ "__CHAR32_TYPE__=long unsigned int",
+ "__BUILTIN_AVR_COUNTLSULK=1",
+ "__BUILTIN_AVR_COUNTLSULR=1",
+ "__FLT_MAX__=3.40282347e+38F",
+ "__cpp_constexpr=201304",
+ "__USACCUM_FBIT__=8",
+ "__BUILTIN_AVR_COUNTLSFX=1",
+ "__INT32_TYPE__=long int",
+ "__SIZEOF_DOUBLE__=4",
+ "__FLT_MIN_10_EXP__=(-37)",
+ "__UFRACT_EPSILON__=0x1P-16UR",
+ "__INT_LEAST32_WIDTH__=32",
+ "__BUILTIN_AVR_COUNTLSHK=1",
+ "__BUILTIN_AVR_COUNTLSHR=1",
+ "__INTMAX_TYPE__=long long int",
+ "__BUILTIN_AVR_ABSLLK=1",
+ "__BUILTIN_AVR_ABSLLR=1",
+ "__DEC128_MAX_EXP__=6145",
+ "__AVR_HAVE_16BIT_SP__=1",
+ "__ATOMIC_CONSUME=1",
+ "__GNUC_MINOR__=3",
+ "__INT_FAST16_WIDTH__=16",
+ "__UINTMAX_MAX__=0xffffffffffffffffULL",
+ "__DEC32_MANT_DIG__=7",
+ "__HA_FBIT__=7",
+ "__BUILTIN_AVR_COUNTLSLK=1",
+ "__BUILTIN_AVR_COUNTLSLR=1",
+ "__BUILTIN_AVR_CLI=1",
+ "__DBL_MAX_10_EXP__=38",
+ "__LDBL_DENORM_MIN__=1.40129846e-45L",
+ "__INT16_C(c)=c",
+ "__cpp_generic_lambdas=201304",
+ "__STDC__=1",
+ "__PTRDIFF_TYPE__=int",
+ "__LLFRACT_MIN__=(-0.5LLR-0.5LLR)",
+ "__BUILTIN_AVR_LRBITS=1",
+ "__ATOMIC_SEQ_CST=5",
+ "__DA_FBIT__=31",
+ "__UINT32_TYPE__=long unsigned int",
+ "__BUILTIN_AVR_ROUNDLLK=1",
+ "__UINTPTR_TYPE__=unsigned int",
+ "__BUILTIN_AVR_ROUNDLLR=1",
+ "__USA_IBIT__=16",
+ "__BUILTIN_AVR_ULRBITS=1",
+ "__DEC64_SUBNORMAL_MIN__=0.000000000000001E-383DD",
+ "__DEC128_MANT_DIG__=34",
+ "__LDBL_MIN_10_EXP__=(-37)",
+ "__BUILTIN_AVR_COUNTLSUK=1",
+ "__BUILTIN_AVR_COUNTLSUR=1",
+ "__SIZEOF_LONG_LONG__=8",
+ "__ULACCUM_EPSILON__=0x1P-32ULK",
+ "__cpp_user_defined_literals=200809",
+ "__SACCUM_IBIT__=8",
+ "__GCC_ATOMIC_LLONG_LOCK_FREE=1",
+ "__LDBL_DIG__=6",
+ "__FLT_DECIMAL_DIG__=9",
+ "__UINT_FAST16_MAX__=0xffffU",
+ "__GCC_ATOMIC_SHORT_LOCK_FREE=1",
+ "__BUILTIN_AVR_ABSHK=1",
+ "__BUILTIN_AVR_FLASH_SEGMENT=1",
+ "__INT_LEAST64_WIDTH__=64",
+ "__ULLFRACT_MAX__=0XFFFFFFFFFFFFFFFFP-64ULLR",
+ "__UINT_FAST8_TYPE__=unsigned char",
+ "__USFRACT_EPSILON__=0x1P-8UHR",
+ "__ULACCUM_FBIT__=32",
+ "__QQ_IBIT__=0",
+ "__cpp_init_captures=201304",
+ "__ATOMIC_ACQ_REL=4",
+ "__ATOMIC_RELEASE=3",
+ "__BUILTIN_AVR_FMUL=1",
+ "USBCON"
+ ]
+ }
+ ]
+} \ No newline at end of file
diff --git a/car_driver/.vscode/settings.json b/car_driver/.vscode/settings.json
new file mode 100644
index 0000000..d3ba527
--- /dev/null
+++ b/car_driver/.vscode/settings.json
@@ -0,0 +1,4 @@
+{
+ "C_Cpp.errorSquiggles": "Disabled",
+ "arduino.defaultBaudRate": 9600
+}
diff --git a/car_driver/arduino/arduino.ino b/car_driver/arduino/arduino.ino
new file mode 100644
index 0000000..a0afd59
--- /dev/null
+++ b/car_driver/arduino/arduino.ino
@@ -0,0 +1,105 @@
+#define HEADER 'H'
+
+#define TOTAL_BYTES 2 // hmmm
+#define number_of_keys 5
+
+enum { MOV_LEFT, MOV_RIGHT, MOV_FORWARD, MOV_BACK, MOV_ROTATE, MOV_STOP };
+
+const char tags[] = {'w', 'a', 's', 'd', 'v'};
+const char *states[] = {"Left", "Right", "Forward", "Back", "Rotate", "Stop"};
+const int DIR_LEFT = 0;
+const int DIR_RIGHT = 1;
+const int DIR_CENTER = 2;
+
+const char *locationString[] = {"Left", "Right", "Center"}; // labels for debug
+
+const int LED_PIN = 13;
+
+int commandState = MOV_STOP; // what robot is told to do
+
+const char MOVE_FORWARD = 'w'; // move forward
+const char MOVE_LEFT = 'a'; // move left
+const char MOVE_RIGHT = 'd'; // move right
+const char MOVE_BACK = 's'; // move back
+const char STOP = 'v'; // stop
+
+void setup() {
+ Serial.begin(9600);
+ Serial.println("initialized");
+ begin();
+}
+
+void loop() {
+ if (Serial.available() >= TOTAL_BYTES) {
+ // sample format: Hv or Hd, etc.
+ char header = Serial.read();
+ if (header == HEADER) { // done reading header, next letter is a tag
+ char tag = Serial.read(); // read the first tag
+ if (is_tag_valid(tag) == true) {
+ Serial.write(tag);
+ Serial.println(" recieved");
+ processCommand(tag); // process the command
+ } else {
+ Serial.write(tag);
+ Serial.println(": unknown tag");
+ }
+ } else {
+ Serial.print("unknown header: ");
+ Serial.println(header);
+ }
+ }
+}
+
+bool is_tag_valid(char tag) {
+ for (int i = 0; i < number_of_keys; i++) {
+ Serial.print(tags[i]);
+ if (tag == tags[i]) {
+ return true;
+ }
+ }
+ return false;
+}
+
+void changeCmdState(int newState) {
+ if (newState != commandState) {
+ Serial.print("cc");
+ Serial.print(states[commandState]);
+ Serial.print("->");
+ Serial.println(states[newState]);
+ commandState = newState;
+ }
+}
+
+void processCommand(char cmd) {
+ switch (cmd) {
+ case STOP: {
+ changeCmdState(MOV_STOP);
+ stop();
+ break;
+ }
+ case MOVE_LEFT: {
+ changeCmdState(MOV_ROTATE);
+ left();
+ break;
+ }
+ case MOVE_RIGHT: {
+ changeCmdState(MOV_ROTATE);
+ right();
+ break;
+ }
+ case MOVE_FORWARD: {
+ changeCmdState(MOV_FORWARD);
+ forward();
+ } break;
+ case MOVE_BACK: { // s is hard without 40 buttons
+ changeCmdState(MOV_BACK);
+ backward();
+ break;
+ }
+ default:
+ Serial.print('[');
+ Serial.write(cmd);
+ Serial.println("] Ignored");
+ break;
+ }
+} \ No newline at end of file
diff --git a/car_driver/arduino/drive.ino b/car_driver/arduino/drive.ino
new file mode 100644
index 0000000..718b532
--- /dev/null
+++ b/car_driver/arduino/drive.ino
@@ -0,0 +1,78 @@
+#define MotorA 12 // left motor
+#define BrakeMotorA 9
+#define MotorASpeed 3
+
+#define MotorB 13 // right motor
+#define BrakeMotorB 8
+#define MotorBSpeed 11
+
+#define SPEED 255 // speed of motors
+
+void begin() {
+ // Setup Channel A
+ pinMode(MotorA, OUTPUT);
+ pinMode(BrakeMotorA, OUTPUT);
+
+ // Setup Channel B
+ pinMode(MotorB, OUTPUT);
+ pinMode(BrakeMotorB, OUTPUT);
+}
+
+void motorAForward(int speed) {
+ digitalWrite(MotorA, HIGH); // forward
+ digitalWrite(BrakeMotorA, LOW); // brake off
+ analogWrite(MotorASpeed, speed); // speed of motor
+}
+
+void motorBForward(int speed) {
+ digitalWrite(MotorB, HIGH); // forward
+ digitalWrite(BrakeMotorB, LOW); // brake off
+ analogWrite(MotorBSpeed, speed); // speed of motor
+}
+
+void motorBBackward(int speed) {
+ digitalWrite(MotorB, LOW); // backwards
+ digitalWrite(BrakeMotorB, LOW); // brake off
+ analogWrite(MotorBSpeed, speed); // speed of motor
+}
+
+void motorABackward(int speed) {
+ digitalWrite(MotorA, LOW); // backwards
+ digitalWrite(BrakeMotorA, LOW); // brake off
+ analogWrite(MotorASpeed, speed); // speed of motor
+}
+
+void forward() {
+ motorAForward(SPEED);
+ motorBForward(SPEED);
+}
+
+void backward() {
+ motorABackward(SPEED);
+ motorBBackward(SPEED);
+}
+
+void brakeMotorA() {
+ digitalWrite(brakeMotorA, HIGH); // engage brake
+ analogWrite(MotorASpeed, 0); // slow
+}
+
+void brakeMotorB() {
+ digitalWrite(brakeMotorB, HIGH); // engage brake
+ analogWrite(MotorBSpeed, 0); // slow
+}
+
+void stop() {
+ brakeMotorA();
+ brakeMotorB();
+}
+
+void left() {
+ brakeMotorA();
+ motorBForward(SPEED);
+}
+
+void right() {
+ brakeMotorB();
+ motorAForward(SPEED);
+} \ No newline at end of file
diff --git a/car_driver/car_driver.ino b/car_driver/car_driver.ino
deleted file mode 100644
index 53258e2..0000000
--- a/car_driver/car_driver.ino
+++ /dev/null
@@ -1,132 +0,0 @@
-#include <AFMotor.h> // adafruit motor shield library
-#include "RobotMotor.h" // 2wd or 4wd motor library
-
-#define HEADER 'H'
-
-#define TOTAL_BYTES 8// hmmm
-#define number_of_keys 4
-
-enum {MOV_LEFT, MOV_RIGHT, MOV_FORWARD, MOV_BACK, MOV_ROTATE, MOV_STOP};
-const char tags[] = {'w', 'a', 's', 'd'};
-const char* states[] = {"Left", "Right", "Forward", "Back", "Rotate", "Stop"};
-const int DIR_LEFT = 0;
-const int DIR_RIGHT = 1;
-const int DIR_CENTER = 2;
-
-const char* locationString[] = {"Left", "Right", "Center"}; // labels for debug
-
-const int LED_PIN = 13;
-
-int commandState = MOV_STOP; // what robot is told to do
-
-
-const char MOVE_FORWARD = 'w'; // move forward
-const char MOVE_LEFT = 'a'; // move left
-const char MOVE_RIGHT = 'd'; // move right
-// const char PIVOT_CCW = '?'; // rotate 90 degrees CCW
-// const char PIVOT_CW = '?'; // rotate 90 degrees CW
-// const char PIVOT = '?'; // rotation angle (minus rotates CCW)
-
-// not used in this example
-// const char MOVE_SPEED = '?';
-// const char MOVE_SLOWER = '?'; // reduce speed
-// const char MOVE_FASTER = '?'; // increase speed
-
-void setup() {
- Serial.begin(9600);
- Serial.println("initialized");
- moveBegin();
- moveSetSpeed(MIN_SPEED + 5); // 5% of max speed
-}
-
-void loop() {
- if ( Serial.available() >= TOTAL_BYTES) {
- // sample format: Hw0 or Hd1, etc.
- if (Serial.read() == HEADER) { // read header, next letter is a tag
- char tag = Serial.read(); // read the first tag
- if (is_tag_valid(tag) == true) {
- char pressed = Serial.read(); // read the number
- Serial.print(tag); Serial.print(": "); Serial.println(pressed); // debug
- processCommand(tag, pressed); // process the command
- }
- else {
- Serial.write(tag);
- Serial.println( ": unknown tag");
- }
- }
- else {
- Serial.print("missing header: ");
- Serial.println(HEADER);
- }
- }
-}
-
-
-bool is_tag_valid(char tag){
- for(int i = 0; i < number_of_keys; i++){
- if(tag == tags[i]){
- return true;
- }
- }
- // else
- return false;
-}
-
-
-void changeCmdState(int newState) {
- if(newState != commandState) {
- // Serial.print("Changing Cmd state from "); Serial.print( states[commandState]); // dont need this logged
- // Serial.print(" to "); Serial.println(states[newState]);
- commandState = newState;
- }
-}
-
-
-void processCommand(int cmd, int pressed) {
- // byte speed;
- //Serial.write(cmd); // uncomment to echo
-
- switch(cmd)
- {
- case MOVE_LEFT : {
- if(pressed == 1) {
- changeCmdState(MOV_ROTATE);
- moveRotate(-10);
- break;
- }
- }
- case MOVE_RIGHT : {
- if(pressed == 1) {
- changeCmdState(MOV_ROTATE);
- moveRotate(10);
- break;
- }
- }
- case MOVE_FORWARD : {if(pressed == 1) {changeCmdState(MOV_FORWARD); moveForward(); break;}}
- case 's' : { // s is complicated, cause im trying to do this without 40 buttons
- if (pressed == 1){
- if (commandState != MOV_STOP) {
- changeCmdState(MOV_STOP);
- moveStop();
- break;
- }
- else if (commandState == MOV_STOP) {
- changeCmdState(MOV_BACK);
- moveBackward();
- break;
- }
- }
- }
-
- // case PIVOT_CCW : changeCmdState(MOV_ROTATE); moveRotate(-90); break;
- // case PIVOT_CW : changeCmdState(MOV_ROTATE); moveRotate(90); break;
-// case PIVOT : changeCmdState(MOV_ROTATE); moveRotate(val); break;
-// case MOVE_SPEED : speed = val; moveSetSpeed(speed); break;
-// case SLOWER : moveSlower(speedIncrement); break;
-// case FASTER : moveFaster(speedIncrement); break;
- case '\r' : case '\n': break; // ignore cr and lf
- default : Serial.print('['); Serial.write(cmd); Serial.println("] Ignored"); break;
- }
-}
-
-
diff --git a/car_driver/move.ino b/car_driver/move.ino
deleted file mode 100644
index e407420..0000000
--- a/car_driver/move.ino
+++ /dev/null
@@ -1,241 +0,0 @@
-/*************************************
- Drive: mid level movement functions
-*************************************/
-
-int moveState = MOV_STOP; // what robot is doing
-
-int moveSpeed = 0; // move speed stored here (0-100%)
-int speedIncrement = 10; // percent to increase or decrease speed
-
-void moveBegin()
-{
- motorBegin(MOTOR_LEFT);
- motorBegin(MOTOR_RIGHT);
- moveStop();
-}
-
-void moveLeft()
-{
- changeMoveState(MOV_LEFT);
- motorForward(MOTOR_LEFT, 0);
- motorForward(MOTOR_RIGHT, moveSpeed);
- Serial.println("were going left... maybe????");
-}
-
-void moveRight()
-{
- changeMoveState(MOV_RIGHT);
- motorForward(MOTOR_LEFT, moveSpeed);
- motorForward(MOTOR_RIGHT, 0);
- Serial.println("were going right... maybe????");
-}
-
-void moveForward()
-{
- changeMoveState(MOV_FORWARD);
- motorForward(MOTOR_LEFT, moveSpeed);
- motorForward(MOTOR_RIGHT, moveSpeed);
-}
-
-void moveBackward()
-{
- changeMoveState(MOV_BACK);
- motorReverse(MOTOR_LEFT, moveSpeed);
- motorReverse(MOTOR_RIGHT, moveSpeed);
-}
-
-void moveRotate(int angle)
-{
- changeMoveState(MOV_ROTATE);
- Serial.print("Rotating "); Serial.print(angle);
- if(angle < 0)
- {
- Serial.println(" (left)");
- motorReverse(MOTOR_LEFT, moveSpeed);
- motorForward(MOTOR_RIGHT, moveSpeed);
- angle = -angle;
- }
- else if(angle > 0)
- {
- Serial.println(" (right)");
- motorForward(MOTOR_LEFT, moveSpeed);
- motorReverse(MOTOR_RIGHT, moveSpeed);
- }
- int ms = rotationAngleToTime(angle, moveSpeed);
- movingDelay(ms);
- moveBrake();
-}
-
-void moveStop()
-{
- changeMoveState(MOV_STOP);
- motorStop(MOTOR_LEFT);
- motorStop(MOTOR_RIGHT);
- Serial.println("stop lmao");
-}
-
-void moveBrake()
-{
- changeMoveState(MOV_STOP);
- motorBrake(MOTOR_LEFT);
- motorBrake(MOTOR_RIGHT);
-}
-
-void moveSetSpeed(int speed)
-{
- motorSetSpeed(MOTOR_LEFT, speed) ;
- motorSetSpeed(MOTOR_RIGHT, speed) ;
- moveSpeed = speed; // save the value
-}
-
-void moveSlower(int decrement)
-{
- Serial.print(" Slower: ");
- if( moveSpeed >= speedIncrement + MIN_SPEED)
- moveSpeed -= speedIncrement;
- else moveSpeed = MIN_SPEED;
- moveSetSpeed(moveSpeed);
-}
-
-
-void moveFaster(int increment)
-{
- Serial.print(" Faster: ");
- moveSpeed += speedIncrement;
- if(moveSpeed > 100)
- moveSpeed = 100;
- moveSetSpeed(moveSpeed);
-}
-
-int moveGetState()
-{
- return moveState;
-}
-
-/*************************************
- functions to rotate the robot
-*************************************/
-
-// return the time in milliseconds to turn the given angle at the given speed
-long rotationAngleToTime( int angle, int speed)
-{
-int fullRotationTime; // time to rotate 360 degrees at given speed
-
- if(speed < MIN_SPEED)
- return 0; // ignore speeds slower then the first table entry
-
- angle = abs(angle);
-
- if(speed >= 100)
- fullRotationTime = rotationTime[NBR_SPEEDS-1]; // the last entry is 100%
- else
- {
- int index = (speed - MIN_SPEED) / SPEED_TABLE_INTERVAL ; // index into speed and time tables
- int t0 = rotationTime[index];
- int t1 = rotationTime[index+1]; // time of the next higher speed
- fullRotationTime = map(speed, speedTable[index], speedTable[index+1], t0, t1);
- // Serial.print("index= "); Serial.print(index); Serial.print(", t0 = "); Serial.print(t0); Serial.print(", t1 = "); Serial.print(t1);
- }
- // Serial.print(" full rotation time = "); Serial.println(fullRotationTime);
- long result = map(angle, 0,360, 0, fullRotationTime);
- return result;
-}
-
-
-// rotate the robot from MIN_SPEED to 100% increasing by SPEED_TABLE_INTERVAL
-void calibrateRotationRate(int direction, int angle)
-{
- Serial.print(locationString[direction]);
- Serial.println(" calibration" );
- for(int speed = MIN_SPEED; speed <= 100; speed += SPEED_TABLE_INTERVAL)
- {
-
- delay(1000);
- //blinkNumber(speed/10);
-
- if( direction == DIR_LEFT)
- { // rotate left
- motorReverse(MOTOR_LEFT, speed);
- motorForward(MOTOR_RIGHT, speed);
- }
- else if( direction == DIR_RIGHT)
- { // rotate right
- motorForward(MOTOR_LEFT, speed);
- motorReverse(MOTOR_RIGHT, speed);
- }
- else
- Serial.println("Invalid direction");
-
-
- int time = rotationAngleToTime(angle, speed);
-
- Serial.print(locationString[direction]);
- Serial.print(": rotate ");
- Serial.print(angle);
- Serial.print(" degrees at speed ");
- Serial.print(speed);
- Serial.print(" for ");
- Serial.print(time);
- Serial.println("ms");
- delay(time);
- motorStop(MOTOR_LEFT);
- motorStop(MOTOR_RIGHT);
- delay(2000); // two second delay between speeds
- }
-}
-
-// this is the low level movement state.
-// it will differ from the command state when the robot is avoiding obstacles
-void changeMoveState(int newState)
-{
- if(newState != moveState)
- {
- Serial.print("Changing move state from "); Serial.print( states[moveState]);
- Serial.print(" to "); Serial.println(states[newState]);
- moveState = newState;
- }
-}
-
-/************* high level movement functions ****************/
-
-//moves in the given direction at the current speed for the given duration in milliseconds
-void timedMove(int direction, int duration)
-{
- Serial.print("Timed move ");
- if(direction == MOV_FORWARD) {
- Serial.println("forward");
- moveForward();
- }
- else if(direction == MOV_BACK) {
- Serial.println("back");
- moveBackward();
- }
- else
- Serial.println("?");
-
- movingDelay(duration);
- moveStop();
-}
-
-// check for obstacles while delaying the given duration in ms
-
-void movingDelay(long duration)
-{
- long startTime = millis();
- while(millis() - startTime < duration) {
- // function in Look module checks for obstacle in direction of movement
- if(checkMovement() == false) {
- if( moveState != MOV_ROTATE) // rotate is only valid movement
- {
- Serial.println("Stopping in moving Delay()");
- moveBrake();
- }
- }
- }
-}
-
-boolean checkMovement() {
- return true;
-}
-
-
diff --git a/car_driver/processing/processing.pde b/car_driver/processing/processing.pde
new file mode 100644
index 0000000..5e10e54
--- /dev/null
+++ b/car_driver/processing/processing.pde
@@ -0,0 +1,45 @@
+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);
+ }
+ }
+}