-
Notifications
You must be signed in to change notification settings - Fork 0
/
An_Ardurover.ino
232 lines (210 loc) · 6.37 KB
/
An_Ardurover.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
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
/*
Project: an-arduover
12/12/2019
*/
//Uses the Automation library at: https://github.com/tinkerspy/Automaton/wiki/The-command-machine
//http://tinyurl.com/ptj1212b
#include <Automaton.h>
char cmd_buffer[80];
Atm_command cmd;
enum {CMD_MOTOR, CMD_MSLEEP, CMD_RUN, CMD_STOP, CMD_DEL, CMD_VERSION, CMD_HELP};
const char cmdlist[] =
"motor msleep run stop del version help";
static String pubstrCmds[30];
static int pubargumennt1[30];
static int pubargumennt2[30];
static int pubrunFlag = 0;
void robotCommand()
{
char tempb[20];
int i = 0;
while (pubstrCmds[i] != "RUN")
{
if(pubstrCmds[i] == "MOTOR")
{
if(pubargumennt1[i] == 1)
{
if(pubargumennt2[i] > 0)
{
sprintf(tempb, "Motor 1 forward %i.", pubargumennt2[i]);
digitalWrite(2,HIGH);
digitalWrite(4,LOW);
analogWrite(3,pubargumennt2[i]+80);
}
else if(pubargumennt2[i] == 0)
{
sprintf(tempb, "Motor 1 stopped.");
digitalWrite(2,LOW);
digitalWrite(4,LOW);
}
else if(pubargumennt2[i] < 0)
{
sprintf(tempb, "Motor 1 backwards %i.", pubargumennt2[i]);
digitalWrite(2,LOW);
digitalWrite(4,HIGH);
analogWrite(3,pubargumennt2[i]+80);
}
else
sprintf(tempb, "You did not set a speed for motor $i.", pubargumennt1[i]);
Serial.println(tempb);
}
else if(pubargumennt1[i] == 2)
{
if(pubargumennt2[i] > 0)
{
sprintf(tempb, "Motor 2 forward %i.", pubargumennt2[i]);
digitalWrite(7,HIGH);
digitalWrite(8,LOW);
analogWrite(5,pubargumennt2[i]+80);
}
else if(pubargumennt2[i] == 0)
{
sprintf(tempb, "Motor 2 stopped");
digitalWrite(7,LOW);
digitalWrite(8,LOW);
}
else if(pubargumennt2[i] < 0)
{
sprintf(tempb, "Motor 2 backwards %i.", pubargumennt2[i]);
digitalWrite(7,LOW);
digitalWrite(8,HIGH);
analogWrite(5,pubargumennt2[i]+80);
}
else
sprintf(tempb, "You did not set a speed for motor %i.", pubargumennt1[i]);
Serial.println(tempb);
}
else
{
Serial.println("Error: You did not select motor 1 or motor 2");
}
}
if(pubstrCmds[i] == "MSLEEP")
{
sprintf(tempb, "Robot will sleep for %i ms...", pubargumennt1[i], pubargumennt2[i]);
Serial.print(tempb);
delay(pubargumennt1[i]);
Serial.println("...");
analogWrite(5,0);
analogWrite(3,0);
delay(250);
}
i++;
}
delay(600);
pinMode(12, OUTPUT);
digitalWrite(12, LOW);
}
void setCommand(char cmdName[30] = "null", int arg1 = 0, int arg2 = 0)
{
if(pubrunFlag >= 25)
Serial.println("Running low on memory... (28 lines MAX!)\n\r");
if(pubrunFlag >= 29)
{
Serial.println("Max lines reached.\n\rRunning...");
setCommand("RUN", 0, 0);
pubrunFlag = -1;
return;
}
pubstrCmds[pubrunFlag] = cmdName;
pubargumennt1[pubrunFlag] = arg1;
pubargumennt2[pubrunFlag] = arg2;
char tempb[30];
if(cmdName == "MOTOR")
{
sprintf(tempb, "Line %i: motor %i %i", pubrunFlag, arg1, arg2);
}
else if(cmdName == "MSLEEP")
{
sprintf(tempb, "Line %i: msleep %i", pubrunFlag, arg1);
}
Serial.println(tempb);
pubrunFlag++;
return;
}
void cmd_callback( int idx, int v, int up ) {
Serial.write("\r\n>> ");
char tempb[20];
int ag2 = atoi( cmd.arg( 1 ) );
int ag3 = atoi( cmd.arg( 2 ) );
switch ( v ) {
case CMD_MOTOR:
setCommand("MOTOR", ag2, ag3);
break;
case CMD_MSLEEP:
if(ag2 > 10000 || ag2 < 0)
{
Serial.write("msleep is too large a number. Needs to be less than 10,000 ms.\r\n");
}
if(ag2 < 10000)// || ag2 > 0)
{
setCommand("MSLEEP", ag2, ag3);
}
break;
case CMD_RUN:
Serial.write("> Running commands...\n\r");
setCommand("RUN", 0, 0);
pubrunFlag = -1;
break;
case CMD_STOP:
Serial.write("> Stopping robot\n\r");
delay(600);
pinMode(12, OUTPUT);
digitalWrite(12, LOW);
break;
case CMD_DEL:
sprintf(tempb, "Line %i deleted.", ag2);
Serial.print(tempb);
pubstrCmds[ag2] = "";
pubargumennt1[ag2] = 0;
pubargumennt2[ag2] = 0;
break;
case CMD_VERSION:
Serial.write("Your robot needs an update.\n\r");
delay (600);
break;
case CMD_HELP:
Serial.write("\n\r\tView the full manual online at: www.github.com/joneal92110/an-ardurover/wiki/manual\n\r");
delay (600);
break;
default:
Serial.write("Error\n\r");
break;
}
}
void setup() {
pinMode(12, INPUT);
digitalWrite(12, LOW);
Serial.begin( 9600 );
delay(300);
Serial.write("AT+C012\n\r"); //channel 3
delay(300);
Serial.write("AT+P2\n\r"); //TX power 3
delay(300);
Serial.write("Rosa Parks Robotics Team\n\r\t-- An Ardurover --\n\r");
Serial.write("Pam Pham - Tim Jepson - Jeremiah O'Neal\n\r");
Serial.write("- Kevin Siemens - Ryan Chafe -\n\r");
Serial.write("Source code: http://tinyurl.com/ptj1212b \n\r\r\n");
Serial.write("Clearing commands. Please wait...\r\n");
for(int i = 0; i <= 30; i++)
{
Serial.write(".");
pubstrCmds[i] = "";
pubargumennt1[i] = 0;
pubargumennt2[i] = 0;
}
Serial.println("\n\rType help for help.\r\nReady.\n\r");
cmd.begin( Serial, cmd_buffer, sizeof( cmd_buffer ) )
.list( cmdlist )
.onCommand( cmd_callback );
}
void loop() {
if(pubrunFlag == -1)
{
robotCommand();
}
if(pubrunFlag > -1)
{
automaton.run();
}
}