bendns' repos / ArduinoStuff
arduino stuffs
Diffstat (limited to 'car_driver/arduino/arduino.ino')
-rw-r--r--car_driver/arduino/arduino.ino105
1 files changed, 105 insertions, 0 deletions
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