/
du.ino
203 lines (179 loc) · 4.29 KB
/
du.ino
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
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
#include <Servo.h>
bool debug = false;
int index = 0;
char messageBuffer[12];
char cmd[3];
char pin[3];
char val[4];
char aux[4];
Servo servo;
void setup() {
Serial.begin(115200);
}
void loop() {
while(Serial.available() > 0) {
char x = Serial.read();
if (x == '!') index = 0; // start
else if (x == '.') process(); // end
else messageBuffer[index++] = x;
}
}
/*
* Deal with a full message and determine function to call
*/
void process() {
index = 0;
strncpy(cmd, messageBuffer, 2);
cmd[2] = '\0';
strncpy(pin, messageBuffer + 2, 2);
pin[2] = '\0';
strncpy(val, messageBuffer + 4, 2);
val[3] = '\0';
strncpy(aux, messageBuffer + 6, 3);
aux[3] = '\0';
if (debug) {
Serial.println(messageBuffer);
}
int cmdid = atoi(cmd);
switch(cmdid) {
case 0: sm(pin,val); break;
case 1: dw(pin,val); break;
case 2: dr(pin,val); break;
case 3: aw(pin,val); break;
case 4: ar(pin,val); break;
case 98: handleServo(pin,val,aux); break;
case 99: toggleDebug(val); break;
default: break;
}
}
/*
* Toggle debug mode
*/
void toggleDebug(char *val) {
if (atoi(val) == 0) {
debug = false;
Serial.println("goodbye");
} else {
debug = true;
Serial.println("hello");
}
}
/*
* Set pin mode
*/
void sm(char *pin, char *val) {
if (debug) Serial.println("sm");
int p = getPin(pin);
if(p == -1) { if(debug) Serial.println("badpin"); return; }
if (atoi(val) == 0) {
pinMode(p, OUTPUT);
} else {
pinMode(p, INPUT);
}
}
/*
* Digital write
*/
void dw(char *pin, char *val) {
if (debug) Serial.println("dw");
int p = getPin(pin);
if(p == -1) { if(debug) Serial.println("badpin"); return; }
pinMode(p, OUTPUT);
if (atoi(val) == 0) {
digitalWrite(p, LOW);
} else {
digitalWrite(p, HIGH);
}
}
/*
* Digital read
*/
void dr(char *pin, char *val) {
if (debug) Serial.println("dr");
int p = getPin(pin);
if(p == -1) { if(debug) Serial.println("badpin"); return; }
pinMode(p, INPUT);
int oraw = digitalRead(p);
char m[7];
sprintf(m, "%02d::%02d", p,oraw);
Serial.println(m);
}
/*
* Analog read
*/
void ar(char *pin, char *val) {
if(debug) Serial.println("ar");
int p = getPin(pin);
if(p == -1) { if(debug) Serial.println("badpin"); return; }
pinMode(p, INPUT); // don't want to sw
int rval = analogRead(p);
char m[8];
sprintf(m, "%s::%03d", pin, rval);
Serial.println(m);
}
void aw(char *pin, char *val) {
if(debug) Serial.println("aw");
int p = getPin(pin);
pinMode(p, OUTPUT);
if(p == -1) { if(debug) Serial.println("badpin"); return; }
analogWrite(p,atoi(val));
}
int getPin(char *pin) { //Converts to A0-A5, and returns -1 on error
int ret = -1;
if(pin[0] == 'A' || pin[0] == 'a')
{
switch(pin[1])
{
case '0': ret = A0; break;
case '1': ret = A1; break;
case '2': ret = A2; break;
case '3': ret = A3; break;
case '4': ret = A4; break;
case '5': ret = A5; break;
default: break;
}
} else {
ret = atoi(pin);
if(ret == 0 && (pin[0] != '0' || pin[1] != '0'))
{
ret = -1;
}
}
return ret;
}
/*
* Handle Servo commands
* attach, detach, write, read, writeMicroseconds, attached
*/
void handleServo(char *pin, char *val, char *aux) {
if (debug) Serial.println("ss");
int p = getPin(pin);
if(p == -1) { if(debug) Serial.println("badpin"); return; }
Serial.println("got signal");
if (atoi(val) == 0) {
servo.detach();
char m[12];
sprintf(m, "%s::detached", pin);
Serial.println(m);
} else if (atoi(val) == 1) {
servo.attach(p, 100, 2200);
char m[12];
sprintf(m, "%s::attached", pin);
Serial.println(m);
} else if (atoi(val) == 2) {
Serial.println("writing to servo");
Serial.println(atoi(aux));
// Write to servo
servo.write(atoi(aux));
// TODO: Experiment with microsecond pulses
// digitalWrite(pin, HIGH); // start the pulse
// delayMicroseconds(pulseWidth); // pulse width
// digitalWrite(pin, LOW); // stop the pulse
} else if (atoi(val) == 3) {
Serial.println("reading servo");
int sval = servo.read();
char m[8];
sprintf(m, "%s::read::%03d", pin, sval);
Serial.println(m);
}
}