arduino stuffs
update
34 files changed, 1447 insertions, 72 deletions
diff --git a/car_driver/arduino/arduino.ino b/car_driver/arduino/arduino.ino index a0afd59..fee8153 100644 --- a/car_driver/arduino/arduino.ino +++ b/car_driver/arduino/arduino.ino @@ -1,27 +1,12 @@ #define HEADER 'H' -#define TOTAL_BYTES 2 // hmmm -#define number_of_keys 5 +#define TOTAL_BYTES 3 // hmmm -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 +const int MOVE_FORWARD[2] = {0, 2}; // 2 == -1 == up +const int MOVE_LEFT[2] = {2, 0}; // move left +const int MOVE_RIGHT[2] = {1, 0}; // move right +const int MOVE_BACK[2] = {0, 1}; // move back +const int MOVE_STOP[2] = {0, 0}; // stop void setup() { Serial.begin(9600); @@ -31,16 +16,21 @@ void setup() { void loop() { if (Serial.available() >= TOTAL_BYTES) { - // sample format: Hv or Hd, etc. + // sample format: H11 or H02, 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 + 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'); + Serial.println(y, BIN); + Serial.println(x, BIN); + Serial.println("this is what I recived boss"); + if (is_tag_valid(x, y)) { + processCommand(x, y); // process the command } else { - Serial.write(tag); + Serial.print(x, BIN); + Serial.print(y, BIN); Serial.println(": unknown tag"); } } else { @@ -50,56 +40,33 @@ void loop() { } } -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; - } +bool is_tag_valid(const int x, const int y) { + return x > 0 && x < 3 && y > 0 && y < 3; } -void processCommand(char cmd) { - switch (cmd) { - case STOP: { - changeCmdState(MOV_STOP); +// @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 (cmd == MOVE_FORWARD) { + forward(); + } else if (arrayCmp(cmd, MOVE_STOP)) { stop(); - break; - } - case MOVE_LEFT: { - changeCmdState(MOV_ROTATE); + } else if (arrayCmp(cmd, MOVE_LEFT)) { left(); - break; - } - case MOVE_RIGHT: { - changeCmdState(MOV_ROTATE); + } else if (arrayCmp(cmd, MOVE_RIGHT)) { right(); - break; - } - case MOVE_FORWARD: { - changeCmdState(MOV_FORWARD); - forward(); - } break; - case MOVE_BACK: { // s is hard without 40 buttons - changeCmdState(MOV_BACK); + } else if (arrayCmp(cmd, MOVE_BACK)) { backward(); - break; - } - default: + } else { Serial.print('['); - Serial.write(cmd); + Serial.print(x); + Serial.print(cmd[0]); + Serial.print(cmd[1]); + Serial.print(y); Serial.println("] Ignored"); - break; } +} + +bool arrayCmp(const int array[], const int array2[]) { + return array[0] == array2[0] && array[1] == array2[1]; }
\ No newline at end of file diff --git a/car_driver/godot/.import/.gdignore b/car_driver/godot/.import/.gdignore new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/car_driver/godot/.import/.gdignore @@ -0,0 +1 @@ + diff --git a/car_driver/godot/Console.gd b/car_driver/godot/Console.gd new file mode 100644 index 0000000..29ac7a9 --- /dev/null +++ b/car_driver/godot/Console.gd @@ -0,0 +1,10 @@ +extends RichTextLabel +class_name Console + + +func _ready(): + SerialIO.connect("recieved", self, "add_text") + + +func add_text(new: String): + text += new diff --git a/car_driver/godot/Console.tscn b/car_driver/godot/Console.tscn new file mode 100644 index 0000000..026ec44 --- /dev/null +++ b/car_driver/godot/Console.tscn @@ -0,0 +1,42 @@ +[gd_scene load_steps=4 format=2] + +[ext_resource path="res://ConsoleWindow.gd" type="Script" id=1] +[ext_resource path="res://Console.gd" type="Script" id=2] +[ext_resource path="res://theme.theme" type="Theme" id=3] + +[node name="ConsoleWindow" type="WindowDialog"] +visible = true +anchor_right = 1.0 +anchor_bottom = 1.0 +margin_top = 40.0 +margin_right = -440.0 +margin_bottom = -220.0 +rect_min_size = Vector2( 300, 200 ) +theme = ExtResource( 3 ) +window_title = "Serial Monitor" +resizable = true +script = ExtResource( 1 ) + +[node name="V" type="VBoxContainer" parent="."] +anchor_right = 1.0 +anchor_bottom = 1.0 +margin_left = 8.0 +margin_right = -4.0 + +[node name="Send" type="LineEdit" parent="V"] +margin_right = 288.0 +margin_bottom = 40.0 +placeholder_text = "input text" +caret_blink = true + +[node name="Console" type="RichTextLabel" parent="V"] +margin_top = 44.0 +margin_right = 288.0 +margin_bottom = 200.0 +focus_mode = 2 +size_flags_vertical = 3 +scroll_following = true +selection_enabled = true +script = ExtResource( 2 ) + +[connection signal="text_entered" from="V/Send" to="." method="_on_Send_text_entered"] diff --git a/car_driver/godot/ConsoleWindow.gd b/car_driver/godot/ConsoleWindow.gd new file mode 100644 index 0000000..a37106a --- /dev/null +++ b/car_driver/godot/ConsoleWindow.gd @@ -0,0 +1,19 @@ +extends WindowDialog + +onready var send = $V/Send + + +func _ready(): + call_deferred("popup_centered_minsize") + + +func _process(_delta := 0.0): + rect_position.x = clamp(rect_position.x, 0, OS.get_window_size().x - rect_size.x) + rect_position.y = clamp(rect_position.y, 20, OS.get_window_size().y - rect_size.y) + + +func _on_Send_text_entered(new_text: String): + new_text = new_text.strip_edges().strip_escapes() + if new_text: + SerialIO.send(new_text) + send.text = "" diff --git a/car_driver/godot/Input.gd b/car_driver/godot/Input.gd new file mode 100644 index 0000000..1bac942 --- /dev/null +++ b/car_driver/godot/Input.gd @@ -0,0 +1,10 @@ +extends Node + + +func prepare(v: Vector2) -> Vector2: + v = v.normalized() + if v.x < 0: + v.x = 1 - v.x + if v.y < 0: + v.y = 1 - v.y + return v diff --git a/car_driver/godot/Main.tscn b/car_driver/godot/Main.tscn new file mode 100644 index 0000000..e2283fc --- /dev/null +++ b/car_driver/godot/Main.tscn @@ -0,0 +1,9 @@ +[gd_scene load_steps=2 format=2] + +[ext_resource path="res://Console.tscn" type="PackedScene" id=1] + +[node name="Main" type="Control"] +anchor_right = 1.0 +anchor_bottom = 1.0 + +[node name="ConsoleWindow" parent="." instance=ExtResource( 1 )] diff --git a/car_driver/godot/Node.tscn b/car_driver/godot/Node.tscn new file mode 100644 index 0000000..e64809b --- /dev/null +++ b/car_driver/godot/Node.tscn @@ -0,0 +1,3 @@ +[gd_scene format=2] + +[node name="Node" type="Node"] diff --git a/car_driver/godot/bin/GDsercomm.gdnlib b/car_driver/godot/bin/GDsercomm.gdnlib new file mode 100644 index 0000000..765f112 --- /dev/null +++ b/car_driver/godot/bin/GDsercomm.gdnlib @@ -0,0 +1,19 @@ +[general] + +singleton=false +load_once=true +symbol_prefix="godot_" +reloadable=true + +[entry] + +X11.64="res://bin/linux64/libGDSercomm.so" +Windows.64="res://bin/win64/GDSercomm.dll" +Windows.32="res://bin/win32/GDSercomm.dll" +OSX.64="" + +[dependencies] + +X11.64=[ ] +Windows.64=[ "res://bin/win64/sercomm.dll" ] +OSX.64=[ ] diff --git a/car_driver/godot/bin/GDsercomm.gdns b/car_driver/godot/bin/GDsercomm.gdns new file mode 100644 index 0000000..c1af659 --- /dev/null +++ b/car_driver/godot/bin/GDsercomm.gdns @@ -0,0 +1,8 @@ +[gd_resource type="NativeScript" load_steps=2 format=2] + +[ext_resource path="res://bin/GDsercomm.gdnlib" type="GDNativeLibrary" id=1] + +[resource] +resource_name = "SERCOMM" +class_name = "SERCOMM" +library = ExtResource( 1 ) diff --git a/car_driver/godot/bin/linux64/libGDSercomm.so b/car_driver/godot/bin/linux64/libGDSercomm.so Binary files differnew file mode 100644 index 0000000..bf96e61 --- /dev/null +++ b/car_driver/godot/bin/linux64/libGDSercomm.so diff --git a/car_driver/godot/bin/linux64/libsercomm.so b/car_driver/godot/bin/linux64/libsercomm.so Binary files differnew file mode 100644 index 0000000..4e69e00 --- /dev/null +++ b/car_driver/godot/bin/linux64/libsercomm.so diff --git a/car_driver/godot/bin/win32/GDSercomm.dll b/car_driver/godot/bin/win32/GDSercomm.dll Binary files differnew file mode 100644 index 0000000..1708780 --- /dev/null +++ b/car_driver/godot/bin/win32/GDSercomm.dll diff --git a/car_driver/godot/bin/win32/sercomm.dll b/car_driver/godot/bin/win32/sercomm.dll Binary files differnew file mode 100644 index 0000000..9aa6c53 --- /dev/null +++ b/car_driver/godot/bin/win32/sercomm.dll diff --git a/car_driver/godot/bin/win64/GDSercomm.dll b/car_driver/godot/bin/win64/GDSercomm.dll Binary files differnew file mode 100644 index 0000000..9f3c247 --- /dev/null +++ b/car_driver/godot/bin/win64/GDSercomm.dll diff --git a/car_driver/godot/bin/win64/sercomm.dll b/car_driver/godot/bin/win64/sercomm.dll Binary files differnew file mode 100644 index 0000000..39236bd --- /dev/null +++ b/car_driver/godot/bin/win64/sercomm.dll diff --git a/car_driver/godot/logs/godot.log b/car_driver/godot/logs/godot.log new file mode 100644 index 0000000..0f99df2 --- /dev/null +++ b/car_driver/godot/logs/godot.log @@ -0,0 +1,5 @@ +Godot Engine v3.4.4.stable.arch_linux - https://godotengine.org +OpenGL ES 3.0 Renderer: Mesa Intel(R) UHD Graphics 600 (GLK 2) +OpenGL ES Batching: ON + +connecting to /dev/ttyACM0 diff --git a/car_driver/godot/logs/godot_2022-06-11_15.10.34.log b/car_driver/godot/logs/godot_2022-06-11_15.10.34.log new file mode 100644 index 0000000..87894a1 --- /dev/null +++ b/car_driver/godot/logs/godot_2022-06-11_15.10.34.log @@ -0,0 +1,5 @@ +Godot Engine v3.4.4.stable.arch_linux - https://godotengine.org +OpenGL ES 3.0 Renderer: Mesa Intel(R) UHD Graphics 600 (GLK 2) +OpenGL ES Batching: ON + +[/dev/ttyS9, /dev/ttyS8, /dev/ttyS31, /dev/ttyS30, /dev/ttyS3, /dev/ttyS29, /dev/ttyS28, /dev/ttyS27, /dev/ttyS26, /dev/ttyS25, /dev/ttyS24, /dev/ttyS23, /dev/ttyS22, /dev/ttyS21, /dev/ttyS20, /dev/ttyS2, /dev/ttyS19, /dev/ttyS18, /dev/ttyS17, /dev/ttyS16, /dev/ttyS15, /dev/ttyS14, /dev/ttyS13, /dev/ttyS12, /dev/ttyS11, /dev/ttyS10, /dev/ttyS1, /dev/ttyS0, /dev/ttyS7, /dev/ttyS6, /dev/ttyS5, /dev/ttyS4, /dev/ttyACM0] diff --git a/car_driver/godot/logs/godot_2022-06-11_15.17.29.log b/car_driver/godot/logs/godot_2022-06-11_15.17.29.log new file mode 100644 index 0000000..0f99df2 --- /dev/null +++ b/car_driver/godot/logs/godot_2022-06-11_15.17.29.log @@ -0,0 +1,5 @@ +Godot Engine v3.4.4.stable.arch_linux - https://godotengine.org +OpenGL ES 3.0 Renderer: Mesa Intel(R) UHD Graphics 600 (GLK 2) +OpenGL ES Batching: ON + +connecting to /dev/ttyACM0 diff --git a/car_driver/godot/logs/godot_2022-06-11_15.17.37.log b/car_driver/godot/logs/godot_2022-06-11_15.17.37.log new file mode 100644 index 0000000..0f99df2 --- /dev/null +++ b/car_driver/godot/logs/godot_2022-06-11_15.17.37.log @@ -0,0 +1,5 @@ +Godot Engine v3.4.4.stable.arch_linux - https://godotengine.org +OpenGL ES 3.0 Renderer: Mesa Intel(R) UHD Graphics 600 (GLK 2) +OpenGL ES Batching: ON + +connecting to /dev/ttyACM0 diff --git a/car_driver/godot/logs/godot_2022-06-11_15.19.20.log b/car_driver/godot/logs/godot_2022-06-11_15.19.20.log new file mode 100644 index 0000000..0f99df2 --- /dev/null +++ b/car_driver/godot/logs/godot_2022-06-11_15.19.20.log @@ -0,0 +1,5 @@ +Godot Engine v3.4.4.stable.arch_linux - https://godotengine.org +OpenGL ES 3.0 Renderer: Mesa Intel(R) UHD Graphics 600 (GLK 2) +OpenGL ES Batching: ON + +connecting to /dev/ttyACM0 diff --git a/car_driver/godot/panel.tres b/car_driver/godot/panel.tres new file mode 100644 index 0000000..b092a56 --- /dev/null +++ b/car_driver/godot/panel.tres @@ -0,0 +1,14 @@ +[gd_resource type="StyleBoxFlat" format=2] + +[resource] +content_margin_left = 10.0 +content_margin_right = 10.0 +content_margin_top = 10.0 +content_margin_bottom = 10.0 +bg_color = Color( 0.196078, 0.196078, 0.196078, 0.588235 ) +corner_radius_top_left = 20 +corner_radius_top_right = 20 +corner_radius_bottom_right = 20 +corner_radius_bottom_left = 20 +corner_detail = 20 +anti_aliasing = false diff --git a/car_driver/godot/project.godot b/car_driver/godot/project.godot new file mode 100644 index 0000000..5d6d07c --- /dev/null +++ b/car_driver/godot/project.godot @@ -0,0 +1,44 @@ +; Engine configuration file. +; It's best edited using the editor UI and not directly, +; since the parameters that go here are not all obvious. +; +; Format: +; [section] ; section goes between [] +; param=value ; assign values to parameters + +config_version=4 + +_global_script_classes=[ { +"base": "RichTextLabel", +"class": "Console", +"language": "GDScript", +"path": "res://Console.gd" +} ] +_global_script_class_icons={ +"Console": "" +} + +[application] + +config/name="car controller" +config/description="car go brr" +run/main_scene="res://Main.tscn" + +[autoload] + +SerialIO="*res://serial.gd" + +[debug] + +gdscript/warnings/return_value_discarded=false + +[display] + +window/size/width=640 +window/size/height=360 +window/stretch/mode="2d" +window/stretch/aspect="expand" + +[rendering] + +quality/driver/driver_name="GLES2" diff --git a/car_driver/godot/serial.gd b/car_driver/godot/serial.gd new file mode 100644 index 0000000..dfb3a0f --- /dev/null +++ b/car_driver/godot/serial.gd @@ -0,0 +1,48 @@ +extends Node + +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) + + +func _ready(): + prints("connecting to", get_ports()[-1]) + Serial.call_deferred("open", get_ports()[-1], baud_rate, 1000) + + +func get_ports() -> Array: + return Serial.list_ports() diff --git a/car_driver/godot/theme.theme b/car_driver/godot/theme.theme Binary files differnew file mode 100644 index 0000000..94b6a25 --- /dev/null +++ b/car_driver/godot/theme.theme diff --git a/car_driver/godot/verdana-bold.ttf b/car_driver/godot/verdana-bold.ttf Binary files differnew file mode 100644 index 0000000..e54bccd --- /dev/null +++ b/car_driver/godot/verdana-bold.ttf diff --git a/car_driver/godot/verdana.tres b/car_driver/godot/verdana.tres new file mode 100644 index 0000000..19ecf86 --- /dev/null +++ b/car_driver/godot/verdana.tres @@ -0,0 +1,7 @@ +[gd_resource type="DynamicFont" load_steps=2 format=2] + +[ext_resource path="res://verdana-bold.ttf" type="DynamicFontData" id=1] + +[resource] +size = 15 +font_data = ExtResource( 1 ) diff --git a/generated_examples/MotorTest/.vscode/arduino.json b/generated_examples/MotorTest/.vscode/arduino.json new file mode 100644 index 0000000..c84b3ab --- /dev/null +++ b/generated_examples/MotorTest/.vscode/arduino.json @@ -0,0 +1,5 @@ +{ + "sketch": "MotorTest.ino", + "port": "/dev/ttyACM0", + "board": "arduino:avr:uno" +}
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\ No newline at end of file diff --git a/generated_examples/MotorTest/MotorTest.ino b/generated_examples/MotorTest/MotorTest.ino new file mode 100644 index 0000000..422335a --- /dev/null +++ b/generated_examples/MotorTest/MotorTest.ino @@ -0,0 +1,50 @@ + +void setup() +{ + + // Setup Channel A + pinMode(12, OUTPUT); // Initiates Motor Channel A pin + pinMode(9, OUTPUT); // Initiates Brake Channel A pin + + // Setup Channel B + pinMode(13, OUTPUT); // Initiates Motor Channel A pin + pinMode(8, OUTPUT); // Initiates Brake Channel A pin +} + +void loop() +{ + + // Motor A forward @ full speed + digitalWrite(12, HIGH); // Establishes forward direction of Channel A + digitalWrite(9, LOW); // Disengage the Brake for Channel A + analogWrite(3, 255); // Spins the motor on Channel A at full speed + + // Motor B backward @ half speed + digitalWrite(13, LOW); // Establishes backward direction of Channel B + digitalWrite(8, LOW); // Disengage the Brake for Channel B + analogWrite(11, 123); // Spins the motor on Channel B at half speed + + delay(3000); + + digitalWrite(9, HIGH); // Engage the Brake for Channel A + digitalWrite(9, HIGH); // Engage the Brake for Channel B + + delay(1000); + + // Motor A forward @ full speed + digitalWrite(12, LOW); // Establishes backward direction of Channel A + digitalWrite(9, LOW); // Disengage the Brake for Channel A + analogWrite(3, 123); // Spins the motor on Channel A at half speed + + // Motor B forward @ full speed + digitalWrite(13, HIGH); // Establishes forward direction of Channel B + digitalWrite(8, LOW); // Disengage the Brake for Channel B + analogWrite(11, 255); // Spins the motor on Channel B at full speed + + delay(3000); + + digitalWrite(9, HIGH); // Engage the Brake for Channel A + digitalWrite(9, HIGH); // Engage the Brake for Channel B + + delay(1000); +} diff --git a/generated_examples/MotorTest/but.png b/generated_examples/MotorTest/but.png Binary files differnew file mode 100644 index 0000000..da8f7c2 --- /dev/null +++ b/generated_examples/MotorTest/but.png diff --git a/test_motor/.vscode/arduino.json b/test_motor/.vscode/arduino.json new file mode 100644 index 0000000..cfc8883 --- /dev/null +++ b/test_motor/.vscode/arduino.json @@ -0,0 +1,5 @@ +{ + "board": "arduino:avr:uno", + "sketch": "test_motor.ino", + "port": "/dev/ttyACM0" +}
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\ No newline at end of file diff --git a/test_motor/test_motor.ino b/test_motor/test_motor.ino new file mode 100644 index 0000000..af2b789 --- /dev/null +++ b/test_motor/test_motor.ino @@ -0,0 +1,13 @@ +#include <AFMotor.h> // adafruit motor shield library +#include "RobotMotor.h" + +void setup(){ + motorBegin(MOTOR_LEFT); + motorBegin(MOTOR_RIGHT); + motorSetSpeed(MOTOR_LEFT, 15); + motorSetSpeed(MOTOR_RIGHT, 15); + motorStop(MOTOR_LEFT); + motorStop(MOTOR_RIGHT); +} + +void loop(){}
\ No newline at end of file |
