bendns' repos / ArduinoStuff
arduino stuffs
Diffstat (limited to 'car_driver/arduino/arduino.ino')
-rw-r--r--car_driver/arduino/arduino.ino49
1 files changed, 19 insertions, 30 deletions
diff --git a/car_driver/arduino/arduino.ino b/car_driver/arduino/arduino.ino
index e6617eb..3150ea8 100644
--- a/car_driver/arduino/arduino.ino
+++ b/car_driver/arduino/arduino.ino
@@ -6,61 +6,50 @@ 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
-int8_t prev_a = 0;
-int8_t prev_b = 0;
+int8_t prev_a = 0, prev_b = 0;
+bool isserial = false;
#include "Streaming.h"
#include "drive.h"
+#include "infared.h"
void setup() {
Serial.begin(9600);
- Serial.println("initialized");
+ Infared::begin();
+ Serial.println(F("initialized"));
Serial.setTimeout(10);
begin();
}
void loop() {
+ int8_t a = 255, b = 255;
if (Serial.available() > 0) {
+ isserial = true;
String string = Serial.readString();
string.trim();
char header = string[0];
if (header == HEADER) {
int delimiter = string.indexOf(',');
- int8_t x = string.substring(1, delimiter).toInt();
- int8_t y = string.substring(delimiter + 1).toInt();
- processCommand(x, y);
+ a = string.substring(1, delimiter).toInt();
+ b = string.substring(delimiter + 1).toInt();
}
+ } else if (not isserial) {
+ Infared::loop();
+ a = Infared::motor_a();
+ b = Infared::motor_b();
}
+ if (a != 255 and b != 255)
+ processCommand(a, b);
}
// @param cmd the thing that tells it what to do, motor1, motorb
void processCommand(const int8_t a, const int8_t b) {
- if (a == prev_a || b == prev_b)
+ if (a > 100 || a < -100 || b > 100 || b < -100) {
+ Serial << F("invalid command") << a << ',' << b << endl;
return;
+ }
prev_a = a, prev_b = b;
- if (a > 100 || a < -100 || b > 100 || b < -100) {
- Serial << "invalid command"
- << "[" << a << "," << b << "]" << endl;
- }
- if (a == 0) {
- // apply brakes to motora
- motor_a.brake();
- } else if (a < 0) {
- motor_a.backward(abs(a) + 155);
- } else {
- // positive number: 100 + 155 = 255
- motor_a.forward(a + 155);
- }
- if (b == 0) {
- // apply brakes to motorb
- motor_b.brake();
- } else if (b < 0) { // negative number: -100 + 355 = 255
- motor_b.backward(abs(b) + 155);
- } else {
- // apply speed to motorb
- motor_b.forward(b + 155);
- }
- Serial << "a: " << a << " b: " << b << endl;
+ speed(a, b);
} \ No newline at end of file