bendns' repos / ArduinoStuff
arduino stuffs
Diffstat (limited to 'car_driver/car_driver.ino')
-rw-r--r--car_driver/car_driver.ino132
1 files changed, 0 insertions, 132 deletions
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;
- }
-}
-
-