1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
|
#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;
}
}
|