bendns' repos / ArduinoStuff
arduino stuffs
Diffstat (limited to 'car_driver/car_driver.ino')
-rw-r--r--car_driver/car_driver.ino129
1 files changed, 129 insertions, 0 deletions
diff --git a/car_driver/car_driver.ino b/car_driver/car_driver.ino
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+
+#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 + 40);
+}
+
+void loop() {
+ if ( Serial.available() >= TOTAL_BYTES) {
+ // sample format: Hw0a0s1d0
+ if (Serial.read() == HEADER) {
+ for(int i = 0; i <= number_of_keys * 2; i++) {
+ char tag = Serial.read(); // read the first tag
+ if (tags[i / 2] == tag){ // perhaps works
+ char key = Serial.read();
+ Serial.print(tag); Serial.print(": "); Serial.println(key); // debug
+ processCommand(tags[i], key);
+ }
+ else {
+ Serial.write(tag);
+ Serial.println( ": unknown tag");
+ }
+ }
+ }
+ }
+ else {
+ Serial.print("missing header: ");
+ Serial.println(HEADER);
+ }
+ }
+}
+
+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)
+{
+ moveStop();
+ changeCmdState(MOV_STOP);
+ // 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;
+ }
+}
+
+