Initial commit.

Drive/Drive.pde

@@ -0,0 +1,208 @@
+/* Basic Vehicle Drive System v0.2 by Eric Barch */
+
+#include <SoftwareSerial.h>
+#include <Servo.h>
+
+//Define LCD Serial Port
+#define rxPin 7
+#define txPin 2
+SoftwareSerial lcdSerial = SoftwareSerial(rxPin, txPin);
+
+//Pin Defines
+#define pwm1 9
+#define pwm2 10
+#define fwdpotpin 0
+#define revpotpin 2
+#define steerpotpin 4
+#define revpin 13
+#define brklight 4
+
+//Speed Controller Objects
+Servo leftvictor;
+Servo rightvictor;
+
+//Drive variables
+int leftdrive = 90;
+int rightdrive = 90;
+int braking = 0;
+
+//POT Variables
+int steerpot = 439;
+int fwdpot = 490;
+int revpot = 105;
+int steerlcd = 50;
+
+//POT Calibration Values
+int steerpotmin = 185;
+int steerpotmax = 805;
+int fwdpotmin = 490;
+int fwdpotmax = 731;
+int revpotmin = 105;
+int revpotmax = 340;
+
+void setup() 
+{ 
+	leftvictor.attach(pwm1);
+	rightvictor.attach(pwm2);
+
+        pinMode(revpin, INPUT);
+	pinMode(rxPin, INPUT);
+  	pinMode(txPin, OUTPUT);
+        pinMode(brklight, OUTPUT);
+	lcdSerial.begin(9600);
+	backlightOn();
+
+        Serial.begin(9600);
+} 
+
+void loop()
+{
+        steerpot = analogRead(steerpotpin);
+        Serial.print("Steer: ");
+        Serial.print(steerpot);
+        steerpot = map(steerpot, steerpotmin, steerpotmax, 0, 100);
+
+        fwdpot = analogRead(fwdpotpin);
+	Serial.print(" | Gas: ");
+        Serial.print(fwdpot);
+	fwdpot = map(fwdpot, fwdpotmin, fwdpotmax, 0, 100);
+
+        revpot = analogRead(revpotpin);
+        Serial.print(" | Brake: ");
+        Serial.print(revpot);
+	revpot = map(revpot, revpotmin, revpotmax, 0, 100);
+
+        steerlcd = steerpot;
+
+        if (steerpot > 75)
+            steerpot = 75;
+        else if (steerpot < 25)
+            steerpot = 25;
+
+        if (steerpot >= 40 && steerpot <= 60)
+            steerpot = 50;
+
+    	if (fwdpot <= 5 && digitalRead(revpin) == 0)
+	{
+		leftdrive = 90;
+		rightdrive = 90;
+	}
+	else if (digitalRead(revpin) == 0)
+	{
+		if (steerpot >= 50) {
+
+			leftdrive = 50 * fwdpot;
+			rightdrive = (100 - steerpot) * fwdpot;
+		}
+		else {
+			rightdrive = 50 * fwdpot;
+			leftdrive = (0 + steerpot) * fwdpot;
+		}
+
+                leftdrive = map(leftdrive, 0, 5000, 90, 180);
+		rightdrive = map(rightdrive, 0, 5000, 90, 180);
+	}
+	else if (fwdpot <= 5)
+	{
+		if (steerpot >= 50) {
+			leftdrive = 50 * revpot;
+			rightdrive = (100 - steerpot) * revpot;
+		}
+		else {
+			rightdrive = 50 * revpot;
+			leftdrive = (0 + steerpot) * revpot;
+		}
+
+		leftdrive = map(leftdrive, 0, 5000, 90, 0);
+		rightdrive = map(rightdrive, 0, 5000, 90, 0);
+	}
+        else
+        {
+                leftdrive = 90;
+		rightdrive = 90;
+        }
+
+        //Braking
+        if (revpot >= 20 && fwdpot <= 20 && digitalRead(revpin) == 0)
+        {
+                leftdrive = 85;
+		rightdrive = 85;
+                braking = 1;
+                digitalWrite(brklight, HIGH);
+        }
+        else
+        {
+                braking = 0;
+                digitalWrite(brklight, LOW);
+        }
+
+
+	leftvictor.write(leftdrive);
+	rightvictor.write(rightdrive);
+
+	Serial.print(" | LDrive: ");
+        Serial.print(leftdrive);
+        Serial.print(" | RDrive: ");
+	Serial.print(rightdrive);
+	Serial.print("\n");
+
+        outputLCDData();
+}
+
+void outputLCDData() {
+        leftdrive = map(leftdrive, 0, 180, -100, 100);
+	rightdrive = map(rightdrive, 0, 180, -100, 100);
+
+        selectLineOne();
+        lcdSerial.print("**** Go Kart v1 ****");
+        selectLineTwo();
+        lcdSerial.print("Left Drive: ");
+        if (braking == 1)
+            lcdSerial.print("BRK");
+        else {
+            lcdSerial.print(leftdrive);
+            lcdSerial.print("%   ");
+        }
+        selectLineThree();
+        lcdSerial.print("Right Drive: ");
+        if (braking == 1)
+            lcdSerial.print("BRK");
+        else {
+            lcdSerial.print(rightdrive);
+            lcdSerial.print("%   ");
+        }
+        selectLineFour();
+        lcdSerial.print("Steering: ");
+        lcdSerial.print(steerlcd);
+        lcdSerial.print("%   ");
+}
+
+void selectLineOne() {
+       lcdSerial.print(0xFE, BYTE);   //command flag
+       lcdSerial.print(128, BYTE);    //position
+}
+
+void selectLineTwo() {
+       lcdSerial.print(0xFE, BYTE);   //command flag
+       lcdSerial.print(192, BYTE);    //position
+}
+
+void selectLineThree() {
+       lcdSerial.print(0xFE, BYTE);   //command flag
+       lcdSerial.print(148, BYTE);    //position
+}
+
+void selectLineFour() {
+       lcdSerial.print(0xFE, BYTE);   //command flag
+       lcdSerial.print(212, BYTE);    //position
+}
+
+void backlightOn(){
+        lcdSerial.print(0x7C, BYTE);   //command flag for backlight stuff
+        lcdSerial.print(157, BYTE);    //light level.
+}
+
+void clearLCD(){
+	lcdSerial.print(0xFE, BYTE);   //command flag
+	lcdSerial.print(0x01, BYTE);   //clear command.
+}