PRE2015 4 Groep5 Code: Difference between revisions
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Repository: https://github.com/ | Repository: https://github.com/Petzep/UseWaterpret | ||
== | ==Repository== | ||
===Library=== | |||
Libraries used: | Libraries used: | ||
| Line 13: | Line 13: | ||
* ServoTimer2 | * ServoTimer2 | ||
==Solution== | ===Solution=== | ||
===BaseStation=== | '''Solution.sln''' | ||
Microsoft Visual Studio Solution File, Format Version 12.00 | |||
# Visual Studio 14 | |||
VisualStudioVersion = 14.0.24720.0 | |||
MinimumVisualStudioVersion = 10.0.40219.1 | |||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Robot", "Robot\Robot.vcxproj", "{E107B750-A178-4195-BCF5-E1DADA3D52A1}" | |||
EndProject | |||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BaseStation", "BaseStation\BaseStation.vcxproj", "{194F20BC-E954-42EA-99FE-BA4D6577DDA3}" | |||
EndProject | |||
Global | |||
GlobalSection(SolutionConfigurationPlatforms) = preSolution | |||
Debug|x64 = Debug|x64 | |||
Debug|x86 = Debug|x86 | |||
Release|x64 = Release|x64 | |||
Release|x86 = Release|x86 | |||
EndGlobalSection | |||
GlobalSection(ProjectConfigurationPlatforms) = postSolution | |||
{E107B750-A178-4195-BCF5-E1DADA3D52A1}.Debug|x64.ActiveCfg = Debug|Win32 | |||
{E107B750-A178-4195-BCF5-E1DADA3D52A1}.Debug|x86.ActiveCfg = Debug|Win32 | |||
{E107B750-A178-4195-BCF5-E1DADA3D52A1}.Debug|x86.Build.0 = Debug|Win32 | |||
{E107B750-A178-4195-BCF5-E1DADA3D52A1}.Release|x64.ActiveCfg = Release|Win32 | |||
{E107B750-A178-4195-BCF5-E1DADA3D52A1}.Release|x86.ActiveCfg = Release|Win32 | |||
{E107B750-A178-4195-BCF5-E1DADA3D52A1}.Release|x86.Build.0 = Release|Win32 | |||
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Debug|x64.ActiveCfg = Debug|x64 | |||
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Debug|x64.Build.0 = Debug|x64 | |||
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Debug|x86.ActiveCfg = Debug|Win32 | |||
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Debug|x86.Build.0 = Debug|Win32 | |||
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Release|x64.ActiveCfg = Release|x64 | |||
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Release|x64.Build.0 = Release|x64 | |||
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Release|x86.ActiveCfg = Release|Win32 | |||
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Release|x86.Build.0 = Release|Win32 | |||
EndGlobalSection | |||
GlobalSection(SolutionProperties) = preSolution | |||
HideSolutionNode = FALSE | |||
EndGlobalSection | |||
EndGlobal | |||
====BaseStation==== | |||
'''BaseStation.ino''' | '''BaseStation.ino''' | ||
| Line 701: | Line 739: | ||
} | } | ||
===Robot=== | ====Robot==== | ||
=== | |||
'''CommandBook.ino''' | |||
int countCommand(CommandBook *book) | |||
{ | |||
int c = 0; | |||
while (book[c].command != NULL && c < BOOKSIZE) | |||
c++; | |||
return c; | |||
} | |||
void addCommand(CommandBook *book, char command, int value) | |||
{ | |||
int c = countCommand(book); | |||
book[c].command = command; | |||
book[c].value = value; | |||
} | |||
void runCommand(CommandBook *book) | |||
{ | |||
int c = countCommand(book); | |||
for (int i = 0; i < c; i++) | |||
{ | |||
switch (book[i].command) | |||
{ | |||
case 'm': | |||
{ | |||
myStepper.move(book[i].value); | |||
while (myStepper.distanceToGo()) | |||
myStepper.run(); | |||
myStepper.disableOutputs(); | |||
break; | |||
} | |||
case 'd': | |||
{ | |||
delay(book[i].value); | |||
break; | |||
} | |||
default: | |||
{ | |||
Serial.println("Invaild command!"); | |||
break; | |||
} | |||
} | |||
book[i].command = NULL; | |||
book[i].value = NULL; | |||
} | |||
} | |||
void printCommand(CommandBook *book) | |||
{ | |||
int c = countCommand(book); | |||
Serial.println("Commandos in book:"); | |||
for (int i = 0; i < c; i++) | |||
{ | |||
Serial.print('-'); | |||
Serial.print(book[i].command); | |||
Serial.print('\t'); | |||
Serial.println(book[i].value); | |||
} | |||
Serial.println("Done"); | |||
} | |||
'''Robot.ino''' | |||
/* | |||
Name: Robot.ino | |||
Created: 5/19/2016 4:07:57 PM | |||
Author: Use Waterpret | |||
*/ | |||
#define Servo ServoTimer2 | |||
//#define ENABLE_DEBUG | |||
//#define REMOTE | |||
#define BOOKSIZE 20 | |||
struct CommandBook | |||
{ | |||
char command; | |||
int value; | |||
}; | |||
#ifdef ENABLE_DEBUG | |||
// disable Serial output | |||
#define debugln(a) (Serial.println(a)) | |||
#define debug(a) (Serial.print(a)) | |||
#else | |||
#define debugln(a) | |||
#define debug(a) | |||
#endif | |||
#include <Arduino.h> // Fixes some define problems | |||
#include <ServoTimer2.h> // Include servo library | |||
#include <AccelStepper.h> // AccelStepper library for precise and fluid steppercontrol | |||
#include <SPI.h> // The SPI-communication liberary for the antenna | |||
#include <OneWire\OneWire.h> // The OneWire-protocol used by te temp sensor | |||
#include <DallasTemperatureControl\DallasTemperature.h> // DallasTemperature library for controlling the DS18S20 temperature monitor | |||
OneWire oneWire(A0); // Setup a oneWire instance to communicate with any OneWire devices | |||
DallasTemperature sensors(&oneWire); // Pass the oneWire reference to Dallas Temperature. | |||
AccelStepper shaftStepper(AccelStepper::FULL4WIRE, 13, 12, 11, 9, TRUE);// initialize the stepper library on pins 13,12,11,9 and disable the output; | |||
AccelStepper kopStepper(AccelStepper::FULL4WIRE, 2, 4, 6, 7, FALSE); // initialize the stepper library on pins 2,4,6,7 and disable the output; | |||
AccelStepper armStepper(AccelStepper::FULL4WIRE, A2, A3, A4, A5, FALSE);// initialize the stepper library on pins A2,A3,A4,A5 and disable the output; | |||
CommandBook commandos[BOOKSIZE] = {}; // array with commands for the Arduino | |||
DeviceAddress motorShaftTemp; // arrays to hold device addresses of the TempSensors | |||
Servo servoArm; // Arm servo signal | |||
Servo servoGrab; // Grabbbing Servo | |||
const int delayRest = 100; // Standard delay for momentum to stablelize | |||
const int armNeutralPosition = 90; // Neutral position of the grabber | |||
const int grabberNeutralPosition = 60; // Ground position of the grabber | |||
const int grabberGrabPosition = 0; // Position for closed grabbers | |||
const int armOffset = 0; // turn ofset for the head in degrees | |||
const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution for your motor | |||
const int acceleration = 350; // Acceleration | |||
const float pi = 3.141592654; // this one is a piece of cake | |||
int kopSpeed = 0; // Speed of the kopmotor in RPM | |||
char motorDirection = 1; // direction of the motor | |||
unsigned long previousMillis = 0; // will store last time LED was updatedvccv | |||
float rpm2steps = stepsPerRevolution / 60.0f; | |||
uint8_t* buf = new uint8_t[32]; | |||
uint8_t len = 32; | |||
void r_RPMtester(AccelStepper driver); // Small acceleration test. | |||
void r_DirectionTest(); // Small direction test. | |||
bool addCommand(CommandBook *book, char command, int value); | |||
int countCommand(CommandBook *book); | |||
void runCommand(CommandBook *book); | |||
void printCommand(CommandBook *book); | |||
bool deleteCommand(CommandBook *book); | |||
bool sendCommand(CommandBook *book); | |||
///////////////////////////////// | |||
///USER DETERMINED VARIABLES///// | |||
///////////////////////////////// | |||
int armPos = armNeutralPosition; | |||
int grabPos = grabberNeutralPosition; | |||
int remoteStep = 5; | |||
void setup() // Built in initialization block | |||
{ | |||
Serial.begin(9600); // open the serial port at 9600 bps: | |||
Serial.println(F("Booting Ariel:")); | |||
Serial.println(F(" -Starting Ariel")); | |||
Serial.println(F(" -Serial port is open @9600.")); | |||
nrf24Initialize(false); // Radio initialisation function | |||
Serial.print(F(" -Attaching Arm Servo:\t")); | |||
servoArm.attach(5); // Attach Arm signal to the pin | |||
if (!servoArm.attached()) | |||
Serial.println(F("servoArm attach failed")); | |||
else | |||
Serial.println(F("OK")); | |||
servoGrab.attach(3); // Attach Grab signal to the pin | |||
Serial.print(F(" -Attaching Grab Servo:\t")); | |||
if (!servoGrab.attached()) | |||
Serial.println(F("servoGrab attach failed")); | |||
else | |||
Serial.println(F("OK")); | |||
sensors.begin(); // Initialise the temperaturesensor bus | |||
Serial.print(F("Gettnig motorShaftTemp address\t")); | |||
if (!sensors.getAddress(motorShaftTemp, 0)) // Check if the temperaturesensors are connected. | |||
Serial.println(F("Unable to find address for motorShaftTemp")); | |||
else | |||
Serial.println(F("OK")); | |||
Serial.print(F(" -Connecting motorShaftTemp:\t")); | |||
if (!sensors.isConnected(motorShaftTemp)) | |||
Serial.println(F("motorShaftTemp is not connected")); | |||
else | |||
Serial.println(F("OK")); | |||
Serial.println(F("Attaching armStepper:\t")); | |||
armStepper.setMaxSpeed(220 * rpm2steps); | |||
Serial.print(F(" -Max speed:\t")); | |||
Serial.println(armStepper.maxSpeed()); | |||
armStepper.setAcceleration(acceleration); | |||
Serial.print(F(" -Acceleration:\t")); | |||
Serial.println(acceleration); | |||
Serial.print(F(" -Position:\t")); | |||
Serial.println(armStepper.currentPosition()); | |||
Serial.println(F("Attaching kopStepper:\t")); | |||
kopStepper.setMaxSpeed(180 * rpm2steps); | |||
Serial.print(F(" -Max speed:\t")); | |||
Serial.println(kopStepper.maxSpeed()); | |||
kopStepper.setAcceleration(acceleration); | |||
Serial.print(F(" -Acceleration:\t")); | |||
Serial.println(acceleration); | |||
Serial.print(F(" -Position:\t")); | |||
Serial.println(kopStepper.currentPosition()); | |||
Serial.println(F("Attaching shaftStepper:\t")); | |||
shaftStepper.setMaxSpeed(220 * rpm2steps); | |||
Serial.print(F(" -Max speed:\t")); | |||
Serial.println(shaftStepper.maxSpeed()); | |||
shaftStepper.setAcceleration(acceleration); | |||
Serial.print(F(" -Acceleration:\t")); | |||
Serial.println(acceleration); | |||
Serial.print(F(" -Position:\t")); | |||
Serial.println(shaftStepper.currentPosition()); | |||
Serial.println(F("- SPI diabled")); | |||
SPI.end(); | |||
Serial.println(F("Ariel has started")); | |||
} | |||
/////////////////////////////// | |||
//////////MAIN LOOP//////////// | |||
////////////////////////////// | |||
#ifdef REMOTE | |||
void loop() { | |||
SPI.begin(); | |||
sensors.requestTemperatures(); // Send the command to get temperatures | |||
Serial.print(F("Temperature for the Steppermotor is: ")); | |||
Serial.println(sensors.getTempC(motorShaftTemp)); | |||
if (nrf24ReceiveMessage(buf, &len)) | |||
{ | |||
Serial.println(F("Message received")); | |||
int c = countCommand(commandos); | |||
for (int n = 0; n < c; n += 1) | |||
{ | |||
commandos[n].command = NULL; | |||
commandos[n].value = NULL; | |||
} | |||
c = buf[0]; | |||
Serial.println("Received " + String(c) + " commands"); | |||
for (int n = 0; n < c; n += 1) | |||
{ | |||
addCommand(commandos, (char)buf[n * 3 + 1], (((int)buf[n * 3 + 2]) << 8) + (int)buf[n * 3 + 3]); | |||
} | |||
//digitalWrite(11, LOW); | |||
//digitalWrite(8, HIGH); | |||
//radioSleep(); | |||
//SPI.transfer(0xAA); | |||
//SPI.setDataMode(SPI_MODE0); | |||
//delay(2000); | |||
SPI.endTransaction(); | |||
SPI.end(); | |||
shaftStepper.disableOutputs(); | |||
Serial.println(digitalRead(9)); | |||
Serial.println(digitalRead(11)); | |||
Serial.println(digitalRead(12)); | |||
Serial.println(digitalRead(12)); | |||
shaftStepper.enableOutputs(); | |||
Serial.println(F("Received commands!")); | |||
Serial.println(); | |||
printCommand(commandos); | |||
Serial.println(F("Waiting 3 seconds before executing")); | |||
delay(3000); | |||
runCommand(commandos); | |||
delay(1000); | |||
Serial.println(); | |||
sensors.requestTemperatures(); // Send the command to get temperatures | |||
Serial.print(F("Temperature for the Steppermotor is: ")); | |||
Serial.println(sensors.getTempC(motorShaftTemp)); | |||
Serial.println("DONE!"); | |||
} | |||
} | |||
#else | |||
void loop() | |||
{ | |||
int c = Serial.read(); | |||
switch (c) | |||
{ | |||
case '-': | |||
{ | |||
remoteStep--; | |||
if (remoteStep == 0) | |||
remoteStep = 1; | |||
Serial.print(F("Stepsize: ")); | |||
Serial.println(remoteStep); | |||
break; | |||
} | |||
case '+': | |||
{ | |||
remoteStep++; | |||
Serial.print(F("Stepsize: ")); | |||
Serial.println(remoteStep); | |||
break; | |||
} | |||
case '(': | |||
{ | |||
kopSpeed -= remoteStep; | |||
if (kopSpeed < 0) | |||
kopSpeed = 0; | |||
Serial.print(F("kopSpeed: ")); | |||
Serial.println(kopSpeed); | |||
break; | |||
} | |||
case ')': | |||
{ | |||
kopSpeed += remoteStep; | |||
if (kopSpeed > kopStepper.maxSpeed()) | |||
kopSpeed = kopStepper.maxSpeed(); | |||
Serial.print(F("kopSpeed: ")); | |||
Serial.println(kopSpeed); | |||
break; | |||
} | |||
case '0': | |||
{ | |||
Serial.println(F("All stop!")); | |||
SPI.end(); | |||
kopStepper.stop(); | |||
while (kopStepper.distanceToGo()) | |||
kopStepper.run(); | |||
kopSpeed = 0; | |||
grabberNeutral(); | |||
armNeutral(); | |||
kopStepper.disableOutputs(); | |||
armStepper.disableOutputs(); | |||
shaftStepper.disableOutputs(); | |||
break; | |||
} | |||
case '4': | |||
{ | |||
grabPos += remoteStep; | |||
grabberTurnPos(grabPos); | |||
break; | |||
} | |||
case '6': | |||
{ | |||
grabPos -= remoteStep; | |||
grabberTurnPos(grabPos); | |||
break; | |||
} | |||
case '8': | |||
{ | |||
debug(F("arm offset: ")); | |||
debug(armOffset); | |||
armPos += remoteStep; | |||
armTurnPos(armPos); | |||
break; | |||
} | |||
case '2': | |||
{ | |||
debug(F("arm offset: ")); | |||
debug(armOffset); | |||
armPos -= remoteStep; | |||
armTurnPos(armPos); | |||
break; | |||
} | |||
case '5': | |||
{ | |||
Serial.println(F("turning one round @60RPM: ")); | |||
kopStepper.setSpeed(60 * rpm2steps); | |||
kopStepper.move(stepsPerRevolution); | |||
kopStepper.runSpeedToPosition(); | |||
break; | |||
} | |||
case 'c': | |||
{ | |||
r_Cut(); | |||
break; | |||
} | |||
case 'r': | |||
{ | |||
r_RPMtester(kopStepper); | |||
break; | |||
} | |||
case 'd': | |||
{ | |||
r_DirectionTest(); | |||
break; | |||
} | |||
case '*': | |||
{ | |||
sensors.requestTemperatures(); // Send the command to get temperatures | |||
Serial.print(F("Temperature for the Steppermotor is: ")); | |||
Serial.println(sensors.getTempC(motorShaftTemp)); | |||
break; | |||
} | |||
case '.': | |||
{ | |||
Serial.println(F("Locking the motor for 1 second")); | |||
kopStepper.setSpeed(0); | |||
kopStepper.move(1); | |||
kopStepper.move(-1); | |||
unsigned long previousMillis = millis(); | |||
while (millis() - previousMillis <= 1000) | |||
kopStepper.runSpeed(); | |||
kopStepper.disableOutputs(); | |||
break; | |||
} | |||
case '/': | |||
{ | |||
Serial.println(F("Swithcing motor direction")); | |||
motorDirection *= -1; | |||
break; | |||
case '[': | |||
{ | |||
Serial.println(F("Reseting arm motor position to 0")); | |||
armStepper.setCurrentPosition(armStepper.currentPosition()); | |||
break; | |||
} | |||
case ']': | |||
{ | |||
Serial.print(F("Current arm motor position: ")); | |||
Serial.println(armStepper.currentPosition()); | |||
break; | |||
} | |||
case '{': | |||
{ | |||
Serial.println(F("Reseting shaft motor position to 0")); | |||
shaftStepper.setCurrentPosition(shaftStepper.currentPosition()); | |||
break; | |||
} | |||
case '}': | |||
{ | |||
Serial.print(F("Current shaft motor position: ")); | |||
Serial.println(shaftStepper.currentPosition()); | |||
break; | |||
} | |||
case '9': | |||
{ | |||
Serial.println(F("Extending shaft")); | |||
shaftStepper.moveTo(900); | |||
shaftStepper.runToPosition(); | |||
shaftStepper.disableOutputs(); | |||
break; | |||
} | |||
case '7': | |||
{ | |||
Serial.println(F("Retracting shaft")); | |||
shaftStepper.moveTo(0); | |||
shaftStepper.runToPosition(); | |||
shaftStepper.disableOutputs(); | |||
break; | |||
} | |||
case '3': | |||
{ | |||
Serial.println(F("Extending arm ")); | |||
armStepper.moveTo(750); | |||
armStepper.runToPosition(); | |||
armStepper.disableOutputs(); | |||
break; | |||
} | |||
case '1': | |||
{ | |||
Serial.println(F("Retracting arm ")); | |||
armStepper.moveTo(0); | |||
armStepper.runToPosition(); | |||
armStepper.disableOutputs(); | |||
break; | |||
} | |||
case 't': | |||
{ | |||
Serial.println("Testing command "); | |||
addCommand(commandos, 't', 1); | |||
addCommand(commandos, 'W', 0); | |||
addCommand(commandos, 'D', 0); | |||
addCommand(commandos, 'c', 0); | |||
addCommand(commandos, 'A', 0); | |||
addCommand(commandos, 'S', 0); | |||
addCommand(commandos, 't', 2); | |||
addCommand(commandos, 'W', 0); | |||
addCommand(commandos, 'D', 0); | |||
addCommand(commandos, 'i', 0); | |||
addCommand(commandos, 'A', 0); | |||
addCommand(commandos, 'S', 0); | |||
addCommand(commandos, 't', 3); | |||
addCommand(commandos, 'W', 0); | |||
addCommand(commandos, 'D', 0); | |||
addCommand(commandos, 'i', 180); | |||
addCommand(commandos, 'A', 0); | |||
addCommand(commandos, 'S', 0); | |||
addCommand(commandos, 't', 0); | |||
delay(1000); | |||
printCommand(commandos); | |||
delay(1000); | |||
runCommand(commandos); | |||
break; | |||
} | |||
case 'g': | |||
{ | |||
Serial.println("Arduin Routine"); | |||
addCommand(commandos, 'i', 180); | |||
addCommand(commandos, 'd', 1000); | |||
addCommand(commandos, 'i', 0); | |||
addCommand(commandos, 'u', 180); | |||
addCommand(commandos, 'd', 1000); | |||
addCommand(commandos, 'u', 90); | |||
addCommand(commandos, 'd', 1000); | |||
addCommand(commandos, 'u', 0); | |||
addCommand(commandos, 'd', 500); | |||
addCommand(commandos, 'i', 180); | |||
addCommand(commandos, 'd', 1000); | |||
addCommand(commandos, 'i', 0); | |||
printCommand(commandos); | |||
delay(1000); | |||
runCommand(commandos); | |||
break; | |||
} | |||
case '<': | |||
{ | |||
Serial.println(F("Spooling up kopStepper")); | |||
kopStepper.move(-2000); | |||
while (kopStepper.distanceToGo() < -1000) | |||
kopStepper.run(); | |||
motorDirection = -1; | |||
kopSpeed = -kopStepper.maxSpeed(); | |||
break; | |||
} | |||
case '>': | |||
{ | |||
Serial.println(F("Spooling up kopStepper")); | |||
kopStepper.move(2000); | |||
while (kopStepper.distanceToGo() > 1000) | |||
kopStepper.run(); | |||
motorDirection = 1; | |||
kopSpeed = kopStepper.maxSpeed(); | |||
break; | |||
} | |||
} | |||
} | |||
// set the motor speed in RPM: | |||
if (kopSpeed) { | |||
kopStepper.setSpeed(motorDirection * kopSpeed * rpm2steps); | |||
kopStepper.runSpeed(); //Run motor at set speed. | |||
} | |||
else | |||
kopStepper.disableOutputs(); | |||
} | |||
#endif // REMOTE | |||
'''Robot.vcxproj''' | |||
'''Solution. | <?xml version="1.0" encoding="utf-8"?> | ||
<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> | |||
<ItemGroup Label="ProjectConfigurations"> | |||
<ProjectConfiguration Include="Debug|Win32"> | |||
<Configuration>Debug</Configuration> | |||
<Platform>Win32</Platform> | |||
</ProjectConfiguration> | |||
<ProjectConfiguration Include="Release|Win32"> | |||
<Configuration>Release</Configuration> | |||
<Platform>Win32</Platform> | |||
</ProjectConfiguration> | |||
</ItemGroup> | |||
<PropertyGroup Label="Globals"> | |||
<ProjectGuid>{E107B750-A178-4195-BCF5-E1DADA3D52A1}</ProjectGuid> | |||
<RootNamespace>Robot</RootNamespace> | |||
<ProjectName>Robot</ProjectName> | |||
</PropertyGroup> | |||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" /> | |||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration"> | |||
<ConfigurationType>Application</ConfigurationType> | |||
<UseDebugLibraries>true</UseDebugLibraries> | |||
<PlatformToolset>v140</PlatformToolset> | |||
<CharacterSet>MultiByte</CharacterSet> | |||
</PropertyGroup> | |||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration"> | |||
<ConfigurationType>Application</ConfigurationType> | |||
<UseDebugLibraries>false</UseDebugLibraries> | |||
<PlatformToolset>v140</PlatformToolset> | |||
<WholeProgramOptimization>true</WholeProgramOptimization> | |||
<CharacterSet>MultiByte</CharacterSet> | |||
</PropertyGroup> | |||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" /> | |||
<ImportGroup Label="ExtensionSettings"> | |||
</ImportGroup> | |||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'"> | |||
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<PropertyGroup Label="UserMacros" /> | |||
<PropertyGroup /> | |||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'"> | |||
<ClCompile> | |||
<WarningLevel>Level3</WarningLevel> | |||
<Optimization>Disabled</Optimization> | |||
<SDLCheck>true</SDLCheck> | |||
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</ClCompile> | |||
<Link> | |||
<GenerateDebugInformation>true</GenerateDebugInformation> | |||
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<ClCompile> | |||
<WarningLevel>Level3</WarningLevel> | |||
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<FunctionLevelLinking>true</FunctionLevelLinking> | |||
<IntrinsicFunctions>true</IntrinsicFunctions> | |||
<SDLCheck>true</SDLCheck> | |||
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</ClCompile> | |||
<Link> | |||
<GenerateDebugInformation>true</GenerateDebugInformation> | |||
<EnableCOMDATFolding>true</EnableCOMDATFolding> | |||
<OptimizeReferences>true</OptimizeReferences> | |||
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</ItemDefinitionGroup> | |||
<ItemGroup> | |||
<None Include="..\Shared\CommandBook.ino" /> | |||
<None Include="..\Shared\nrf24communication.ino" /> | |||
<None Include="functions.ino" /> | |||
<None Include="Robot.ino" /> | |||
<None Include="routine.ino" /> | |||
</ItemGroup> | |||
<ItemGroup> | |||
<ClInclude Include="__vm\.Robot.vsarduino.h" /> | |||
</ItemGroup> | |||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" /> | |||
<ImportGroup Label="ExtensionTargets"> | |||
</ImportGroup> | |||
<ProjectExtensions> | |||
<VisualStudio> | |||
<UserProperties arduino.upload.maximum_size="30720" arduino.upload.speed="57600" visualmicro.package.name="arduino" arduino.board.property_bag="name=Arduino Duemilanove or Diecimila w/ ATmega328
upload.tool=avrdude
upload.protocol=arduino
bootloader.tool=avrdude
bootloader.low_fuses=0xFF
bootloader.unlock_bits=0x3F
bootloader.lock_bits=0x0F
build.f_cpu=16000000L
build.board=AVR_DUEMILANOVE
build.core=arduino
build.variant=standard
menu.cpu.atmega328=ATmega328
menu.cpu.atmega328.upload.maximum_size=30720
menu.cpu.atmega328.upload.maximum_data_size=2048
menu.cpu.atmega328.upload.speed=57600
menu.cpu.atmega328.bootloader.high_fuses=0xDA
menu.cpu.atmega328.bootloader.extended_fuses=0x05
menu.cpu.atmega328.bootloader.file=atmega/ATmegaBOOT_168_atmega328.hex
menu.cpu.atmega328.build.mcu=atmega328p
menu.cpu.atmega168=ATmega168
menu.cpu.atmega168.upload.maximum_size=14336
menu.cpu.atmega168.upload.maximum_data_size=1024
menu.cpu.atmega168.upload.speed=19200
menu.cpu.atmega168.bootloader.high_fuses=0xdd
menu.cpu.atmega168.bootloader.extended_fuses=0x00
menu.cpu.atmega168.bootloader.file=atmega/ATmegaBOOT_168_diecimila.hex
menu.cpu.atmega168.build.mcu=atmega168
runtime.ide.path=C:\Program Files (x86)\Arduino
build.system.path=C:\Program Files (x86)\Arduino\hardware\arduino\avr\system
runtime.ide.version=10609
target_package=arduino
target_platform=avr
runtime.hardware.path=C:\Program Files (x86)\Arduino\hardware\arduino
originalid=diecimila
intellisense.tools.path={runtime.tools.avr-gcc.path}/
intellisense.include.paths={intellisense.tools.path}avr/include/;{intellisense.tools.path}/avr/include/avr/;{intellisense.tools.path}lib\gcc\avr\4.8.1\include
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tools.atprogram.cmd.setwinpath=true
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tools.atprogram.program.params.quiet=-q
tools.atprogram.program.pattern="{cmd.path}" -d {build.mcu} {program.verbose} {program.extra_params} program -c -f "{build.path}\{build.project_name}.hex"
tools.atprogram.program.xpattern="{cmd.path}" {AVRSTUDIO_BACKEND_CONNECTION} -d {build.mcu} {program.verbose} {program.extra_params} program -c -f "{build.path}\{build.project_name}.hex"
tools.atprogram.erase.params.verbose=-v
tools.atprogram.erase.params.quiet=-q
tools.atprogram.bootloader.params.verbose=-v
tools.atprogram.bootloader.params.quiet=-q
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compiler.warning_flags=-w
compiler.warning_flags.none=-w
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compiler.warning_flags.more=-Wall
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compiler.c.elf.flags={compiler.warning_flags} -Os -Wl,--gc-sections
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compiler.S.flags=-c -g -x assembler-with-cpp
compiler.cpp.cmd=avr-g++
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compiler.ar.flags=rcs
compiler.objcopy.cmd=avr-objcopy
compiler.objcopy.eep.flags=-O ihex -j .eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0
compiler.elf2hex.flags=-O ihex -R .eeprom
compiler.elf2hex.cmd=avr-objcopy
compiler.ldflags=
compiler.size.cmd=avr-size
build.extra_flags=
compiler.c.extra_flags=
compiler.c.elf.extra_flags=
compiler.S.extra_flags=
compiler.cpp.extra_flags=
compiler.ar.extra_flags=
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compiler.elf2hex.extra_flags=
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recipe.cpp.o.pattern="{compiler.path}{compiler.cpp.cmd}" {compiler.cpp.flags} -mmcu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.cpp.extra_flags} {build.extra_flags} {includes} "{source_file}" -o "{object_file}"
recipe.S.o.pattern="{compiler.path}{compiler.c.cmd}" {compiler.S.flags} -mmcu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.S.extra_flags} {build.extra_flags} {includes} "{source_file}" -o "{object_file}"
archive_file_path={build.path}/{archive_file}
recipe.ar.pattern="{compiler.path}{compiler.ar.cmd}" {compiler.ar.flags} {compiler.ar.extra_flags} "{archive_file_path}" "{object_file}"
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recipe.objcopy.hex.pattern="{compiler.path}{compiler.elf2hex.cmd}" {compiler.elf2hex.flags} {compiler.elf2hex.extra_flags} "{build.path}/{build.project_name}.elf" "{build.path}/{build.project_name}.hex"
recipe.output.tmp_file={build.project_name}.hex
recipe.output.save_file={build.project_name}.{build.variant}.hex
recipe.size.pattern="{compiler.path}{compiler.size.cmd}" -A "{build.path}/{build.project_name}.elf"
recipe.size.regex=^(?:\.text|\.data|\.bootloader)\s+([0-9]+).*
recipe.size.regex.data=^(?:\.data|\.bss|\.noinit)\s+([0-9]+).*
recipe.size.regex.eeprom=^(?:\.eeprom)\s+([0-9]+).*
preproc.includes.flags=-w -x c++ -M -MG -MP
recipe.preproc.includes="{compiler.path}{compiler.cpp.cmd}" {compiler.cpp.flags} {preproc.includes.flags} -mmcu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.cpp.extra_flags} {build.extra_flags} {includes} "{source_file}"
preproc.macros.flags=-w -x c++ -E -CC
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tools.avrdude.path={runtime.tools.avrdude.path}
tools.avrdude.cmd.path={path}/bin/avrdude
tools.avrdude.config.path={path}/etc/avrdude.conf
tools.avrdude.upload.params.verbose=-v
tools.avrdude.upload.params.quiet=-q -q
tools.avrdude.upload.params.noverify=-V
tools.avrdude.upload.pattern="{cmd.path}" "-C{config.path}" {upload.verbose} {upload.verify} -p{build.mcu} -c{upload.protocol} -P{serial.port} -b{upload.speed} -D "-Uflash:w:{build.path}/{build.project_name}.hex:i"
tools.avrdude.program.params.verbose=-v
tools.avrdude.program.params.quiet=-q -q
tools.avrdude.program.params.noverify=-V
tools.avrdude.program.pattern="{cmd.path}" "-C{config.path}" {program.verbose} {program.verify} -p{build.mcu} -c{protocol} {program.extra_params} "-Uflash:w:{build.path}/{build.project_name}.hex:i"
tools.avrdude.erase.params.verbose=-v
tools.avrdude.erase.params.quiet=-q -q
tools.avrdude.erase.pattern="{cmd.path}" "-C{config.path}" {erase.verbose} -p{build.mcu} -c{protocol} {program.extra_params} -e -Ulock:w:{bootloader.unlock_bits}:m -Uefuse:w:{bootloader.extended_fuses}:m -Uhfuse:w:{bootloader.high_fuses}:m -Ulfuse:w:{bootloader.low_fuses}:m
tools.avrdude.bootloader.params.verbose=-v
tools.avrdude.bootloader.params.quiet=-q -q
tools.avrdude.bootloader.pattern="{cmd.path}" "-C{config.path}" {bootloader.verbose} -p{build.mcu} -c{protocol} {program.extra_params} "-Uflash:w:{runtime.platform.path}/bootloaders/{bootloader.file}:i" -Ulock:w:{bootloader.lock_bits}:m
tools.avrdude_remote.upload.pattern=/usr/bin/run-avrdude /tmp/sketch.hex {upload.verbose} -p{build.mcu}
build.usb_manufacturer="Unknown"
build.usb_flags=-DUSB_VID={build.vid} -DUSB_PID={build.pid} '-DUSB_MANUFACTURER={build.usb_manufacturer}' '-DUSB_PRODUCT={build.usb_product}'
vm.platform.root.path=C:\Program Files (x86)\Microsoft Visual Studio 14.0\Common7\IDE\Extensions\nctamhse.x5i\Micro Platforms\arduino16x
avrisp.name=AVR ISP
avrisp.communication=serial
avrisp.protocol=stk500v1
avrisp.program.protocol=stk500v1
avrisp.program.tool=avrdude
avrisp.program.extra_params=-P{serial.port}
avrispmkii.name=AVRISP mkII
avrispmkii.communication=usb
avrispmkii.protocol=stk500v2
avrispmkii.program.protocol=stk500v2
avrispmkii.program.tool=avrdude
avrispmkii.program.extra_params=-Pusb
usbtinyisp.name=USBtinyISP
usbtinyisp.protocol=usbtiny
usbtinyisp.program.tool=avrdude
usbtinyisp.program.extra_params=
arduinoisp.name=ArduinoISP
arduinoisp.protocol=arduinoisp
arduinoisp.program.tool=avrdude
arduinoisp.program.extra_params=
usbasp.name=USBasp
usbasp.communication=usb
usbasp.protocol=usbasp
usbasp.program.protocol=usbasp
usbasp.program.tool=avrdude
usbasp.program.extra_params=-Pusb
parallel.name=Parallel Programmer
parallel.protocol=dapa
parallel.force=true
parallel.program.tool=avrdude
parallel.program.extra_params=-F
arduinoasisp.name=Arduino as ISP
arduinoasisp.communication=serial
arduinoasisp.protocol=stk500v1
arduinoasisp.speed=19200
arduinoasisp.program.protocol=stk500v1
arduinoasisp.program.speed=19200
arduinoasisp.program.tool=avrdude
arduinoasisp.program.extra_params=-P{serial.port} -b{program.speed}
usbGemma.name=Arduino Gemma
usbGemma.protocol=arduinogemma
usbGemma.program.tool=avrdude
usbGemma.program.extra_params=
usbGemma.config.path={runtime.platform.path}/bootloaders/gemma/avrdude.conf
stk500.name=Atmel STK500 development board
stk500.communication=serial
stk500.protocol=stk500
stk500.program.protocol=stk500
stk500.program.tool=avrdude
stk500.program.extra_params=-P{serial.port}
buspirate.name=BusPirate as ISP
buspirate.communication=serial
buspirate.protocol=buspirate
buspirate.program.protocol=buspirate
buspirate.program.tool=avrdude
buspirate.program.extra_params=-P{serial.port}
runtime.tools.avrdude.path=C:\Program Files (x86)\Arduino\hardware\tools\avr
runtime.tools.avrdude-6.0.1-arduino5.path=C:\Program Files (x86)\Arduino\hardware\tools\avr
runtime.tools.avr-gcc.path=C:\Program Files (x86)\Arduino\hardware\tools\avr
runtime.tools.avr-gcc-4.8.1-arduino5.path=C:\Program Files (x86)\Arduino\hardware\tools\avr
upload.maximum_size=30720
upload.maximum_data_size=2048
upload.speed=57600
bootloader.high_fuses=0xDA
bootloader.extended_fuses=0x05
bootloader.file=atmega/ATmegaBOOT_168_atmega328.hex
build.mcu=atmega328p
runtime.vm.boardinfo.id=diecimila_atmega328
runtime.vm.boardinfo.name=diecimila_atmega328
runtime.vm.boardinfo.desc=Arduino Duemilanove or Diecimila w/ ATmega328
runtime.vm.boardinfo.src_location=C:\Program Files (x86)\Arduino\hardware\arduino\avr
ide.hint=For use with Arduino.cc 1.6.2+ ide
ide.location.key=Arduino16x
ide.location.ide.winreg=Arduino 1.6.x Application
ide.location.sketchbook.winreg=Arduino 1.6.x Sketchbook
ide.location.sketchbook.preferences=sketchbook.path
ide.default.revision_name=1.6.9
ide.default.version=10609
ide.default.package=arduino
ide.default.platform=avr
ide.multiplatform=true
ide.includes=arduino.h
ide.exe_name=arduino
ide.platformswithoutpackage=false
ide.includes.fallback=wprogram.h
ide.extension=ino
ide.extension.fallback=pde
ide.versionGTEQ=160
ide.exe=arduino.exe
ide.hosts=atmel
ide.url=http://arduino.cc/en/Main/Software
ide.help.reference.path=reference\arduino.cc\en\Reference
ide.help.reference.path2=reference\www.arduino.cc\en\Reference
ide.help.reference.serial=reference\www.arduino.cc\en\Serial
vm.debug=true
software=ARDUINO
ssh.user.name=root
ssh.user.default.password=arduino
ssh.host.wwwfiles.path=/www/sd
build.working_directory={runtime.ide.path}
ide.location.preferences.portable={runtime.ide.path}\portable
ide.location.preferences=%VM_APPDATA_LOCAL%\arduino15\preferences.txt
ide.location.preferences_fallback=%VM_APPDATA_ROAMING%\arduino15\preferences.txt
ide.location.contributions=%VM_APPDATA_LOCAL%\arduino15
ide.location.contributions_fallback=%VM_APPDATA_ROAMING%\arduino15
ide.contributions.boards.allow=true
ide.contributions.boards.ignore_unless_rewrite_found=true
ide.contributions.libraries.allow=true
ide.contributions.boards.support.urls.wiki=https://github.com/arduino/Arduino/wiki/Unofficial-list-of-3rd-party-boards-support-urls
ide.create_platforms_from_boardsTXT.teensy=build.core
ide.appid=arduino16x
location.sketchbook=C:\Users\s133140\Documents\Arduino
vm.core.include=arduino.h
vm.boardsource.path=C:\Program Files (x86)\Arduino\hardware\arduino\avr
runtime.platform.path=C:\Program Files (x86)\Arduino\hardware\arduino\avr
vm.platformname.name=avr
build.arch=AVR
build.architecture=avr
vmresolved.compiler.path=C:\Program Files (x86)\Arduino\hardware\tools\avr\bin\
vmresolved.tools.path=C:\Program Files (x86)\Arduino\hardware\tools\avr
" visualmicro.application.name="arduino16x" arduino.build.mcu="atmega328p" arduino.upload.protocol="arduino" arduino.build.f_cpu="16000000L" arduino.board.desc="Arduino Duemilanove or Diecimila w/ ATmega328" arduino.board.name="diecimila_atmega328" arduino.upload.port="COM5" visualmicro.platform.name="avr" arduino.build.core="arduino" /> | |||
</VisualStudio> | |||
</ProjectExtensions> | |||
</Project> | |||
'''Robot.vcxproj.filters''' | |||
<?xml version="1.0" encoding="utf-8"?> | |||
<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> | |||
<ItemGroup> | |||
<Filter Include="Source Files"> | |||
<UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier> | |||
<Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions> | |||
</Filter> | |||
<Filter Include="Header Files"> | |||
<UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier> | |||
<Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions> | |||
</Filter> | |||
<Filter Include="Resource Files"> | |||
<UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier> | |||
<Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions> | |||
</Filter> | |||
</ItemGroup> | |||
<ItemGroup> | |||
<None Include="functions.ino" /> | |||
<None Include="routine.ino" /> | |||
<None Include="..\Shared\nrf24communication.ino" /> | |||
<None Include="Robot.ino" /> | |||
<None Include="..\Shared\CommandBook.ino" /> | |||
</ItemGroup> | |||
<ItemGroup> | |||
<ClInclude Include="__vm\.Robot.vsarduino.h"> | |||
<Filter>Header Files</Filter> | |||
</ClInclude> | |||
</ItemGroup> | |||
</Project> | |||
'''functions.ino''' | |||
//////////////////////////////////////// | |||
//////ARM AND GRABBER FUNCTIONS///////// | |||
//////////////////////////////////////// | |||
void armNeutral() | |||
{ | |||
debugln("Arm to neutral position"); | |||
servoArm.write(armNeutralPosition); //neutral position | |||
armPos = armNeutralPosition; | |||
delay(100); | |||
} | |||
void grabberNeutral() | |||
{ | |||
debugln("Grabber to neutral position"); | |||
servoGrab.write(grabberNeutralPosition); //neutral position | |||
grabPos = grabberNeutralPosition; | |||
delay(200); | |||
} | |||
void grabberGrab() | |||
{ | |||
debugln("Grabbing"); | |||
servoGrab.write(180); | |||
delay(1000); | |||
servoGrab.write(grabberGrabPosition); //Grab (and move up arm?) | |||
delay(1000); | |||
} | |||
void grabberTurnPos(int pos) | |||
{ | |||
debug("Grabber to position "); | |||
debugln(pos); | |||
servoGrab.write(pos); //servo position | |||
delay(100); | |||
} | |||
void armTurnPos(int pos) | |||
{ | |||
debug("Arm to position "); | |||
debugln(pos); | |||
servoArm.write(pos); //servo position | |||
delay(100); | |||
} | |||
void resetServos() | |||
{ | |||
debugln("Resetting servo"); | |||
delay(80); | |||
servoGrab.write(grabPos + 1); | |||
servoArm.write(armPos + 1); | |||
delay(20); | |||
servoGrab.write(grabPos); | |||
servoArm.write(armPos); | |||
} | |||
void leBlink(int ledPin, int n) | |||
{ | |||
for (int i = 0; i < n; i++) | |||
{ | |||
digitalWrite(ledPin, HIGH); // turn the LED on (HIGH is the voltage level) | |||
delay(100); // wait for a second | |||
digitalWrite(ledPin, LOW); // turn the LED off by making the voltage LOW | |||
delay(100); // wait for a second | |||
} | |||
} | |||
/*not used | |||
void setTemperatureAlarm(int temp) | |||
{ | |||
sensors.setLowAlarmTemp(motorShaftTemp, -10); | |||
sensors.setHighAlarmTemp(motorShaftTemp, temp); | |||
} | |||
void checkAlarm() | |||
{ | |||
if (sensors.hasAlarm()) | |||
{ | |||
Serial.println("ALARM ON MOTOR 1"); | |||
} | |||
}*/ | |||
'''routine.ino''' | |||
void r_Cut() | |||
{ | |||
grabberGrab(); | |||
for (int i = 0; i < 20; i++) | |||
{ | |||
armTurnPos(armPos + 45); | |||
delay(200); | |||
armTurnPos(armPos - 45); | |||
delay(200); | |||
} | |||
delay(500); | |||
grabberNeutral(); | |||
armTurnPos(armPos); | |||
} | |||
void r_Grab() | |||
{ | |||
grabberGrab(); | |||
grabberNeutral(); | |||
armTurnPos(armPos); | |||
} | |||
void r_RPMtester(AccelStepper driver) | |||
{ | |||
Serial.println(F("Testing RPM:")); | |||
Serial.print(F(" -Max speed: ")); | |||
Serial.println(driver.maxSpeed()); | |||
for (int i = 100; i < 500; i += 50) | |||
{ | |||
Serial.print(F(" -Acceleration: ")); | |||
Serial.println(i); | |||
driver.setAcceleration(i); | |||
driver.move(500 * stepsPerRevolution); | |||
while (driver.distanceToGo()) | |||
driver.run(); | |||
Serial.println(F("Starting next iteration in 1 second")); | |||
delay(1000); | |||
} | |||
Serial.println(F("Nope....Test is over. Resuming in 3 seconds")); | |||
delay(3000); | |||
} | |||
void r_DirectionTest() | |||
{ | |||
Serial.println(F("Testing Drirectoion:")); | |||
Serial.println(F("------------------")); | |||
Serial.println(F("Arm motor +")); | |||
armStepper.move(50); | |||
armStepper.runToPosition(); | |||
armStepper.move(-50); | |||
armStepper.runToPosition(); | |||
armStepper.disableOutputs(); | |||
Serial.println(F("Shaft motor +")); | |||
shaftStepper.move(50); | |||
shaftStepper.runToPosition(); | |||
shaftStepper.move(-50); | |||
shaftStepper.runToPosition(); | |||
shaftStepper.disableOutputs(); | |||
Serial.println(F("Kop motor +")); | |||
kopStepper.move(50); | |||
kopStepper.runToPosition(); | |||
kopStepper.move(-50); | |||
kopStepper.runToPosition(); | |||
kopStepper.disableOutputs(); | |||
} | |||
void r_MovePlant(int plant) | |||
{ | |||
kopStepper.moveTo((int)200*plant); | |||
kopStepper.runToPosition(); | |||
} | |||
====Shared==== | |||
'''CommandBook.ino''' | |||
int countCommand(CommandBook *book) | |||
{ | |||
int c = 0; | |||
while (book[c].command != NULL && c < BOOKSIZE) | |||
c++; | |||
return c; | |||
} | |||
bool addCommand(CommandBook *book, char command, int value) | |||
{ | |||
int c = countCommand(book); | |||
if (c >= BOOKSIZE) { | |||
return false; | |||
} | |||
book[c].command = command; | |||
book[c].value = value; | |||
return true; | |||
} | |||
#ifndef BASESTATION | |||
void runCommand(CommandBook *book) | |||
{ | |||
int c = countCommand(book); | |||
for (int i = 0; i < c; i++) | |||
{ | |||
switch (book[i].command) | |||
{ | |||
case 't': | |||
{ | |||
r_MovePlant(book[i].value); | |||
break; | |||
} | |||
case 'c': | |||
{ | |||
r_Cut(); | |||
break; | |||
} | |||
case 'g': | |||
{ | |||
r_Grab(); | |||
break; | |||
} | |||
case 'r': | |||
{ | |||
r_MovePlant(0); | |||
break; | |||
} | |||
case 'W': | |||
{ | |||
shaftStepper.enableOutputs(); | |||
shaftStepper.moveTo(900); | |||
shaftStepper.runToPosition(); | |||
shaftStepper.disableOutputs(); | |||
break; | |||
} | |||
case 'S': | |||
{ | |||
shaftStepper.enableOutputs(); | |||
shaftStepper.moveTo(0); | |||
shaftStepper.runToPosition(); | |||
//shaftStepper.disableOutputs(); //Keeping the shaft on it's place ONE TIME ONLY FOR DEMO (MABYE 2-3, but check temperature) | |||
break; | |||
} | |||
case 'D': | |||
{ | |||
armStepper.enableOutputs(); | |||
armStepper.moveTo(750); | |||
armStepper.runToPosition(); | |||
armStepper.disableOutputs(); | |||
break; | |||
} | |||
case 'A': | |||
{ | |||
armStepper.enableOutputs(); | |||
armStepper.moveTo(0); | |||
armStepper.runToPosition(); | |||
armStepper.disableOutputs(); | |||
break; | |||
} | |||
case 'u': | |||
{ | |||
armTurnPos(book[i].value); | |||
break; | |||
} | |||
case 'i': | |||
{ | |||
grabberTurnPos(book[i].value ); | |||
break; | |||
} | |||
case 'd': | |||
{ | |||
delay(book[i].value); | |||
break; | |||
} | |||
case 'm': | |||
{ | |||
kopStepper.move(book[i].value); | |||
break; | |||
} | |||
default: // "undef" | |||
break; | |||
book[i].command = NULL; | |||
book[i].value = NULL; | |||
} | |||
Serial.print('-'); | |||
Serial.print(book[i].command); | |||
Serial.print('\t'); | |||
Serial.print(book[i].value); | |||
Serial.println("\tDone"); | |||
} | |||
Serial.println("All commands done."); | |||
} | |||
#endif // BASESTATION | |||
void printCommand(CommandBook *book) | |||
{ | |||
int c = countCommand(book); | |||
Serial.println(F("Commandos in book:")); | |||
for (int i = 0; i < c; i++) | |||
{ | |||
Serial.print('-'); | |||
Serial.print(book[i].command); | |||
Serial.print('\t'); | |||
Serial.println(book[i].value); | |||
} | |||
Serial.println(F("-END OF COMMANDS")); | |||
} | |||
bool deleteCommand(CommandBook *book) | |||
{ | |||
int c = countCommand(book); | |||
if (c == 0) { | |||
return false; | |||
} | |||
book[c - 1].command = NULL; | |||
book[c - 1].value = NULL; | |||
return true; | |||
} | |||
bool sendCommand(CommandBook *book) { | |||
int c = countCommand(book); | |||
uint8_t* buf = new uint8_t[BOOKSIZE * 3 + 1]; | |||
buf[0] = c; | |||
for (int n = 0; n < c; n += 1) { | |||
buf[(n * 3) + 1] = (uint8_t) book[n].command; | |||
buf[(n * 3) + 2] = (uint8_t) (book[n].value >> 8); | |||
buf[(n * 3) + 3] = (uint8_t)(book[n].value & 0xFF); | |||
} | |||
Serial.println(F("Sending message...")); | |||
bool result = nrf24SendMessage(buf, c * 3 + 1); | |||
delete buf; | |||
return result; | |||
} | |||
'''nrf24communication.ino''' | |||
#include <RHReliableDatagram.h> | |||
# | #include <RH_NRF24.h> | ||
#include <SPI.h> | |||
#define CLIENT_ADDRESS 1 | |||
#define SERVER_ADDRESS 2 | |||
// Singleton instance of the radio driver | |||
RH_NRF24 driver; | |||
// RH_NRF24 driver(8, 7); // For RFM73 on Anarduino Mini | |||
// Class to manage message delivery and receipt, using the driver declared above | |||
RHReliableDatagram manager(driver); | |||
bool isServer; | |||
uint8_t _nrf24_buf[32]; | |||
{ | uint8_t _nrf24_blen = 0; | ||
bool nrf24Initialize(bool server) { | |||
Serial.print(F(" -Initiating radio:\t")); | |||
if (manager.init()) { | |||
Serial.println(F("OK")); | |||
Serial.print(F(" -Setting radio channel:\t")); | |||
if (!driver.setChannel(1)) { | |||
return false; | |||
Serial.println(F("setChannel failed")); | |||
} | |||
else { | |||
Serial.println(F("Channel 1")); | |||
} | |||
Serial.print(F(" -Setting radio settings:\t")); | |||
if (!driver.setRF(RH_NRF24::DataRate2Mbps, RH_NRF24::TransmitPower0dBm)) { | |||
Serial.println(F("setRF failed")); | |||
return false; | |||
} | |||
else { | |||
Serial.println(F("2Mbps, 0dBm")); | |||
} | |||
} | |||
else { | |||
Serial.println(F("FAILED!!!")); | |||
return false; | |||
} | |||
if (server) { | |||
manager.setThisAddress(SERVER_ADDRESS); | |||
} | |||
else { | |||
manager.setThisAddress(CLIENT_ADDRESS); | |||
} | |||
isServer = server; | |||
return true; | |||
} | |||
bool compareBuffers(uint8_t *buf1, uint8_t *buf2, uint8_t len) { | |||
for (uint8_t n = 0; n < len; n += 1) { | |||
if (buf1[n] != buf2[n]) { | |||
return false; | |||
} | |||
} | |||
return true; | |||
} | |||
void nrf24DebugPrint(char* str) { | |||
if (true) { | |||
Serial.println(str); | |||
} | |||
} | |||
bool nrf24ReceiveMessage(uint8_t* str, uint8_t* len) { | |||
uint8_t from; | |||
if (!manager.waitAvailableTimeout(3000)) { | |||
return false; | |||
} | |||
if (!manager.recvfromAck(str, len, &from)) { | |||
debugln(F("Couldn't receive message")); | |||
return false; | |||
} | |||
uint8_t* _nrf24_buf = (uint8_t *) "OK"; | |||
if (manager.sendtoWait(_nrf24_buf, 3, from)) { | |||
return true; | |||
} | |||
debugln(F("Did not receive acknowledgement on 'OK'")); | |||
return false; | |||
} | |||
bool nrf24SendMessage(uint8_t* str, uint8_t len) { | |||
uint8_t address = SERVER_ADDRESS; | |||
if (isServer) { | |||
address = CLIENT_ADDRESS; | |||
} | |||
if (!manager.sendtoWait(str, len, address)) { | |||
debugln(F("No acknowledgement received")); | |||
return false; | |||
} | |||
if (!manager.waitAvailableTimeout(1000)) { | |||
return false; | |||
} | |||
uint8_t from; | |||
if (manager.recvfromAck(_nrf24_buf, &_nrf24_blen, &from)) { | |||
return true; | |||
} | |||
debugln(F("Could not receive 'OK'")); | |||
return false; | |||
} | |||
bool radioSleep() | |||
{ | |||
driver.setModeIdle(); | |||
if (driver.sleep()) | |||
{ | |||
return true; | |||
} | |||
else | |||
return false; | |||
} | |||
Latest revision as of 16:24, 20 June 2016
Repository: https://github.com/Petzep/UseWaterpret
Repository
Library
Libraries used:
- Arduino_Menu
- DallasTemperatureControl
- OneWire
- RadioHead-1.59
- ServoTimer2
Solution
Solution.sln
Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 14
VisualStudioVersion = 14.0.24720.0
MinimumVisualStudioVersion = 10.0.40219.1
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Robot", "Robot\Robot.vcxproj", "{E107B750-A178-4195-BCF5-E1DADA3D52A1}"
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BaseStation", "BaseStation\BaseStation.vcxproj", "{194F20BC-E954-42EA-99FE-BA4D6577DDA3}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|x64 = Debug|x64
Debug|x86 = Debug|x86
Release|x64 = Release|x64
Release|x86 = Release|x86
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{E107B750-A178-4195-BCF5-E1DADA3D52A1}.Debug|x64.ActiveCfg = Debug|Win32
{E107B750-A178-4195-BCF5-E1DADA3D52A1}.Debug|x86.ActiveCfg = Debug|Win32
{E107B750-A178-4195-BCF5-E1DADA3D52A1}.Debug|x86.Build.0 = Debug|Win32
{E107B750-A178-4195-BCF5-E1DADA3D52A1}.Release|x64.ActiveCfg = Release|Win32
{E107B750-A178-4195-BCF5-E1DADA3D52A1}.Release|x86.ActiveCfg = Release|Win32
{E107B750-A178-4195-BCF5-E1DADA3D52A1}.Release|x86.Build.0 = Release|Win32
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Debug|x64.ActiveCfg = Debug|x64
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Debug|x64.Build.0 = Debug|x64
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Debug|x86.ActiveCfg = Debug|Win32
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Debug|x86.Build.0 = Debug|Win32
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Release|x64.ActiveCfg = Release|x64
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Release|x64.Build.0 = Release|x64
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Release|x86.ActiveCfg = Release|Win32
{194F20BC-E954-42EA-99FE-BA4D6577DDA3}.Release|x86.Build.0 = Release|Win32
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
EndGlobal
BaseStation
BaseStation.ino
/*
Name: BaseStation.ino
Created: 5/19/2016 4:07:46 PM
Author: Use Waterpret
*/
#include <SPI.h>
#define ENABLE_DEBUG
#define BOOKSIZE 10
#define BASESTATION
#ifdef ENABLE_DEBUG
// disable Serial output
#define debugln(a) (Serial.println(a))
#define debug(a) (Serial.print(a))
#else
#define debugln(a)
#define debug(a)
#endif
struct CommandBook
{
char command;
int value;
}tempCommand;
//menu
#include <MenuSystem.h>
#include "CustomNumericMenuItem.h"
// forward declarations
const String format_float(const float value);
const String format_int(const float value);
const String format_color(const float value);
const String format_type(const float value);
const String format_value(const float value);
void display_menu(Menu* p_menu);
void on_status_selected(MenuItem* p_menu_item);
void on_back_item_selected(MenuItem* p_menu_item);
void on_help_selected(MenuItem* p_menu_item);
void on_about_selected(MenuItem* p_menu_item);
void on_add_selected(MenuItem* p_menu_item);
void on_del_selected(MenuItem* p_menu_item);
void on_demo_selected(MenuItem* p_menu_item);
void on_send_selected(MenuItem* p_menu_item);
bool addCommand(CommandBook *book, char command, int value);
int countCommand(CommandBook *book);
void runCommand(CommandBook *book);
void printCommand(CommandBook *book);
bool deleteCommand(CommandBook *book);
bool sendCommand(CommandBook *book);
CommandBook commandos[BOOKSIZE] = {}; // array with commands for the Arduino
// Menu variables
MenuSystem ms;
Menu mm("Main Menu", &display_menu);
Menu muCommand("Command Builder..", &display_menu);
NumericMenuItem muCommand_type("Command type", 0, 0, 11, 1, format_type);
NumericMenuItem muCommand_value("Value", 0, -15, 15, 1, format_value);
MenuItem muCommand_add("Add command to CommandBook", &on_add_selected);
MenuItem muCommand_delete("Delete command from CommandBook", &on_del_selected);
MenuItem muCommand_demo("Set demo sequence", &on_demo_selected);
MenuItem muCommand_send("Send CommandBook to Robot", &on_send_selected);
MenuItem muRobot_status("Status", &on_status_selected);
BackMenuItem mu_back("Back..", &on_back_item_selected, &ms);
MenuItem mm_help("Help", &on_help_selected);
MenuItem mm_about("About", &on_about_selected);
void setup()
{
Serial.begin(9600);
nrf24Initialize(true);
delay(3000);
mm.add_menu(&muCommand);
muCommand.add_item(&muCommand_type);
muCommand.add_item(&muCommand_value);
muCommand.add_item(&muCommand_add);
muCommand.add_item(&muCommand_delete);
muCommand.add_item(&muCommand_demo);
muCommand.add_item(&muCommand_send);
muCommand.add_item(&mu_back);
mm.add_item(&muRobot_status);
mm.add_item(&mm_help);
mm.add_item(&mm_about);
ms.set_root_menu(&mm);
display_help();
ms.display();
}
void loop() {
serial_handler();
}
BaseStation.vcxproj
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BaseStation.vcxproj.filters
<?xml version="1.0" encoding="utf-8"?> <Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> <ItemGroup> <Filter Include="Source Files"> <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier> <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions> </Filter> <Filter Include="Header Files"> <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier> <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions> </Filter> <Filter Include="Resource Files"> <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier> <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions> </Filter> </ItemGroup> <ItemGroup> <None Include="BaseStation.ino" /> <None Include="..\Shared\nrf24communication.ino" /> <None Include="menu.ino" /> <None Include="..\Shared\CommandBook.ino" /> </ItemGroup> <ItemGroup> <ClInclude Include="CustomNumericMenuItem.h"> <Filter>Header Files</Filter> </ClInclude> <ClInclude Include="__vm\.BaseStation.vsarduino.h"> <Filter>Header Files</Filter> </ClInclude> </ItemGroup> </Project>
CustomNumericMenuItem.h
/*
* An example of a custom NumericMenuItem.
* It tries to display some ASCII graphics in edit mode.
* This can be useful if you want to give the end user an overview of the value limits.
*
* Copyright (c) 2016 arduino-menusystem
* Licensed under the MIT license (see LICENSE)
*/
#ifndef _CUSTOMNUMERICMENUITEM_H
#define _CUSTOMNUMERICMENUITEM_H
#include <MenuSystem.h>
class CustomNumericMenuItem : public NumericMenuItem
{
public:
/**
* @param width the width of the edit mode 'ASCII graphics', must be > 1
* @param name The name of the menu item.
* @param value Default value.
* @param minValue The minimum value.
* @param maxValue The maximum value.
* @param increment How much the value should be incremented by.
* @param valueFormatter The custom formatter. If NULL the String float
* formatter will be used.
*/
CustomNumericMenuItem(uint8_t width, const char* name, float value,
float minValue, float maxValue, float increment=1.0,
ValueFormatter_t value_formatter=NULL)
: NumericMenuItem(name, value, minValue, maxValue, increment,
value_formatter),
_width(width)
{
}
virtual String& get_composite_name(String& buffer) const
{
if (is_editing_value())
{
// Only display the ASCII graphics in edit mode.
// make room for a ' ' at the end and the terminating 0
char graphics[_width + 2];
// fill the string with '-'
for (int i = 0; i <_width; i++)
graphics[i] = '-';
// insert a '|' at the relative _value position
graphics[int((_width - 1) * (_value - _minValue) / (_maxValue - _minValue))] = '|';
graphics[_width] = ' ';
graphics[_width+1] = 0;
buffer = graphics;
if (_value_formatter != NULL)
buffer += _value_formatter(_value);
else
buffer += _value;
return buffer;
}
else
{
// Non edit mode: Let parent class handle this
return NumericMenuItem::get_composite_name(buffer);
}
}
private:
const uint8_t _width;
};
#endif // _CUSTOMNUMERICMENUITEM_H
menu.ino
/*
* serial_nav.ino - Example code using the menu system library
*
* This example shows the menu system being controlled over the serial port.
*
* Copyright (c) 2015, 2016 arduino-menusystem
* Licensed under the MIT license (see LICENSE)
*/
// Menu callback function
// writes the (int) value of a float into a char buffer.
const String format_int(const float value)
{
return String((int)value);
}
// writes the value of a float into a char buffer.
const String format_float(const float value)
{
return String(value);
}
const String format_type(const float value)
{
String buffer;
switch ((int)value)
{
case 0:
buffer += "Go to plant";
tempCommand.command = 't';
break;
case 1:
buffer += "Grab/cut plant";
tempCommand.command = 'g';
break;
case 2:
buffer += "Clean plant";
tempCommand.command = 'c';
break;
case 3:
buffer += "Return home";
tempCommand.command = 'r';
break;
case 4:
buffer += "Move shaft up";
tempCommand.command = 'W';
break;
case 5:
buffer += "Move shaft down";
tempCommand.command = 'S';
break;
case 6:
buffer += "Extend arm";
tempCommand.command = 'D';
break;
case 7:
buffer += "Retract arm";
tempCommand.command = 'A';
break;
case 8:
buffer += "Move grabber";
tempCommand.command = 'i';
break;
case 9:
buffer += "Move arm";
tempCommand.command = 'u';
break;
case 10:
buffer += "Delay";
tempCommand.command = 'd';
break;
case 11:
buffer += "Move";
tempCommand.command = 'm';
break;
default:
buffer += "undef";
break;
}
return buffer;
}
const String format_value(const float value)
{
tempCommand.value = (int)value;
switch (tempCommand.command) {
case 't':
return "plant " + String(tempCommand.value);
case 'g':
case 'c':
case 'r':
case 'W':
case 'A':
case 'S':
case 'D':
return "N/A";
case 'm':
return String(tempCommand.value * 100) + " steps";
case 'u':
return String(tempCommand.value * 10) + " degrees";
case 'i':
return String(tempCommand.value * 10) + " degrees";
case 'd':
return String(tempCommand.value * 500) + " ms";
default:
return "undef";
}
}
void on_add_selected(MenuItem* p_menu_item)
{
if (!addCommand(commandos, tempCommand.command, tempCommand.value)) {
Serial.println();
Serial.println(F("ERROR:"));
Serial.println(F("Command book full!"));
delay(1000);
}
}
void on_del_selected(MenuItem* p_menu_item)
{
if (!deleteCommand(commandos)) {
Serial.println();
Serial.println(F("ERROR:"));
Serial.println(F("No commands to delete!"));
delay(1000);
}
}
void on_send_selected(MenuItem* p_menu_item)
{
if (!sendCommand(commandos)) {
Serial.println(F("ERROR:"));
Serial.println(F("Could not send commands"));
}
delay(1000);
}
void on_demo_selected(MenuItem* p_menu_item) {
int c = countCommand(commandos);
for (int n = 0; n < c; n += 1) {
deleteCommand(commandos);
}
addCommand(commandos, 't', 1);
addCommand(commandos, 'd', 3000);
addCommand(commandos, 'W', 0);
addCommand(commandos, 'S', 0);
addCommand(commandos, 'd', 3000);
addCommand(commandos, 'D', 0);
addCommand(commandos, 'A', 0);
addCommand(commandos, 'd', 3000);
addCommand(commandos, 'c', 0);
}
void on_help_selected(MenuItem* p_menu_item)
{
display_help();
delay(3000);
}
void on_about_selected(MenuItem* p_menu_item)
{
Serial.println(F("This is the Base Station interface"));
Serial.println(F("which controls the seaweed harvesting"));
Serial.println(F("robot."));
Serial.println();
Serial.println(F("Refer to the USE Social Robots"));
Serial.println(F("2015/2016 Q4 - group 5 wiki for"));
Serial.println(F("more information."));
delay(5000);
}
void on_status_selected(MenuItem* p_menu_item)
{
Serial.println(F("Returning status of the robot:"));
Serial.println(F("------------------------------"));
Serial.print(F("Temperature: "));
Serial.println(F("80"));
Serial.print(F("Max speed (RPM): "));
Serial.println(F("300"));
Serial.print(F("Acceleration: "));
Serial.println(F("80"));
Serial.print(F("Motor1 "));
Serial.println(F("running"));
Serial.print(F("Motor2: "));
Serial.println(F("not running"));
Serial.print(F("Motor3: "));
Serial.println(F("not running"));
Serial.print(F("ServoArm (degrees):"));
Serial.println(F("167"));
Serial.print(F("MotorGrab: "));
Serial.println(F("086"));
delay(3000);
}
void on_back_item_selected(MenuItem* p_menu_item)
{
//
}
void display_menu(Menu* p_menu)
{
Serial.write(27); // ESC command
Serial.print("[2J"); // clear screen command
Serial.write(27);
Serial.print("[H"); // cursor to home command
Serial.print(F("--[ "));
Serial.print(p_menu->get_name());
Serial.println(F(" ]--"));
String buffer;
MenuComponent const* cp_menu_sel = p_menu->get_current_component();
for (int i = 0; i < p_menu->get_num_menu_components(); ++i)
{
MenuComponent const* cp_m_comp = p_menu->get_menu_component(i);
if (cp_menu_sel == cp_m_comp)
Serial.print("> ");
else
Serial.print(" ");
Serial.print(cp_m_comp->get_composite_name(buffer));
Serial.println("");
}
if (p_menu == &muCommand) {
Serial.println();
printCommand(commandos);
}
}
void display_help() {
Serial.println(F("***************"));
Serial.println(F("w,^: go to previus item (up)"));
Serial.println(F("s,v: go to next item (down)"));
Serial.println(F("a,esc: go back (right)"));
Serial.println(F("d,enter: select \"selected\" item"));
Serial.println(F("h,?: print this help"));
Serial.println(F("***************"));
}
void serial_handler()
{
char inChar, inChar2;
if ((inChar = Serial.read()) > 0)
{
switch (inChar)
{
case 27: // control characters
delay(25);
if ((inChar2 = Serial.read()) > 0) {
switch (inChar2) {
case 91: // escaped control characters
delay(25);
switch (Serial.read()) {
case 65: // up
case 90: // shift+tab
case 68: // left
ms.prev();
ms.display();
break;
case 66: // down
case 67: // right
ms.next();
ms.display();
break;
}
break;
case 49: // function keys, just display help.
ms.display();
display_help();
break;
}
}
else { // escape
ms.back();
ms.display();
}
break;
case 'w': // w
// Previous item
ms.prev();
ms.display();
break;
case 's': // s
case 9: // tab
// Next item
ms.next();
ms.display();
break;
case 127: // backspace
case 'a': // a
case 3: // Ctrl+C
// Back presed
ms.back();
ms.display();
break;
case 0x0D: // enter
case ' ': // space
case 'd': // d
// Select presed
ms.select();
ms.display();
break;
case '?': // ?
case 0x0F: // F1
case 'h': // h
// Display help
ms.display();
display_help();
break;
default:
break;
}
}
}
Robot
CommandBook.ino
int countCommand(CommandBook *book)
{
int c = 0;
while (book[c].command != NULL && c < BOOKSIZE)
c++;
return c;
}
void addCommand(CommandBook *book, char command, int value)
{
int c = countCommand(book);
book[c].command = command;
book[c].value = value;
}
void runCommand(CommandBook *book)
{
int c = countCommand(book);
for (int i = 0; i < c; i++)
{
switch (book[i].command)
{
case 'm':
{
myStepper.move(book[i].value);
while (myStepper.distanceToGo())
myStepper.run();
myStepper.disableOutputs();
break;
}
case 'd':
{
delay(book[i].value);
break;
}
default:
{
Serial.println("Invaild command!");
break;
}
}
book[i].command = NULL;
book[i].value = NULL;
}
}
void printCommand(CommandBook *book)
{
int c = countCommand(book);
Serial.println("Commandos in book:");
for (int i = 0; i < c; i++)
{
Serial.print('-');
Serial.print(book[i].command);
Serial.print('\t');
Serial.println(book[i].value);
}
Serial.println("Done");
}
Robot.ino
/*
Name: Robot.ino
Created: 5/19/2016 4:07:57 PM
Author: Use Waterpret
*/
#define Servo ServoTimer2
//#define ENABLE_DEBUG
//#define REMOTE
#define BOOKSIZE 20
struct CommandBook
{
char command;
int value;
};
#ifdef ENABLE_DEBUG
// disable Serial output
#define debugln(a) (Serial.println(a))
#define debug(a) (Serial.print(a))
#else
#define debugln(a)
#define debug(a)
#endif
#include <Arduino.h> // Fixes some define problems
#include <ServoTimer2.h> // Include servo library
#include <AccelStepper.h> // AccelStepper library for precise and fluid steppercontrol
#include <SPI.h> // The SPI-communication liberary for the antenna
#include <OneWire\OneWire.h> // The OneWire-protocol used by te temp sensor
#include <DallasTemperatureControl\DallasTemperature.h> // DallasTemperature library for controlling the DS18S20 temperature monitor
OneWire oneWire(A0); // Setup a oneWire instance to communicate with any OneWire devices
DallasTemperature sensors(&oneWire); // Pass the oneWire reference to Dallas Temperature.
AccelStepper shaftStepper(AccelStepper::FULL4WIRE, 13, 12, 11, 9, TRUE);// initialize the stepper library on pins 13,12,11,9 and disable the output;
AccelStepper kopStepper(AccelStepper::FULL4WIRE, 2, 4, 6, 7, FALSE); // initialize the stepper library on pins 2,4,6,7 and disable the output;
AccelStepper armStepper(AccelStepper::FULL4WIRE, A2, A3, A4, A5, FALSE);// initialize the stepper library on pins A2,A3,A4,A5 and disable the output;
CommandBook commandos[BOOKSIZE] = {}; // array with commands for the Arduino
DeviceAddress motorShaftTemp; // arrays to hold device addresses of the TempSensors
Servo servoArm; // Arm servo signal
Servo servoGrab; // Grabbbing Servo
const int delayRest = 100; // Standard delay for momentum to stablelize
const int armNeutralPosition = 90; // Neutral position of the grabber
const int grabberNeutralPosition = 60; // Ground position of the grabber
const int grabberGrabPosition = 0; // Position for closed grabbers
const int armOffset = 0; // turn ofset for the head in degrees
const int stepsPerRevolution = 200; // change this to fit the number of steps per revolution for your motor
const int acceleration = 350; // Acceleration
const float pi = 3.141592654; // this one is a piece of cake
int kopSpeed = 0; // Speed of the kopmotor in RPM
char motorDirection = 1; // direction of the motor
unsigned long previousMillis = 0; // will store last time LED was updatedvccv
float rpm2steps = stepsPerRevolution / 60.0f;
uint8_t* buf = new uint8_t[32];
uint8_t len = 32;
void r_RPMtester(AccelStepper driver); // Small acceleration test.
void r_DirectionTest(); // Small direction test.
bool addCommand(CommandBook *book, char command, int value);
int countCommand(CommandBook *book);
void runCommand(CommandBook *book);
void printCommand(CommandBook *book);
bool deleteCommand(CommandBook *book);
bool sendCommand(CommandBook *book);
/////////////////////////////////
///USER DETERMINED VARIABLES/////
/////////////////////////////////
int armPos = armNeutralPosition;
int grabPos = grabberNeutralPosition;
int remoteStep = 5;
void setup() // Built in initialization block
{
Serial.begin(9600); // open the serial port at 9600 bps:
Serial.println(F("Booting Ariel:"));
Serial.println(F(" -Starting Ariel"));
Serial.println(F(" -Serial port is open @9600."));
nrf24Initialize(false); // Radio initialisation function
Serial.print(F(" -Attaching Arm Servo:\t"));
servoArm.attach(5); // Attach Arm signal to the pin
if (!servoArm.attached())
Serial.println(F("servoArm attach failed"));
else
Serial.println(F("OK"));
servoGrab.attach(3); // Attach Grab signal to the pin
Serial.print(F(" -Attaching Grab Servo:\t"));
if (!servoGrab.attached())
Serial.println(F("servoGrab attach failed"));
else
Serial.println(F("OK"));
sensors.begin(); // Initialise the temperaturesensor bus
Serial.print(F("Gettnig motorShaftTemp address\t"));
if (!sensors.getAddress(motorShaftTemp, 0)) // Check if the temperaturesensors are connected.
Serial.println(F("Unable to find address for motorShaftTemp"));
else
Serial.println(F("OK"));
Serial.print(F(" -Connecting motorShaftTemp:\t"));
if (!sensors.isConnected(motorShaftTemp))
Serial.println(F("motorShaftTemp is not connected"));
else
Serial.println(F("OK"));
Serial.println(F("Attaching armStepper:\t"));
armStepper.setMaxSpeed(220 * rpm2steps);
Serial.print(F(" -Max speed:\t"));
Serial.println(armStepper.maxSpeed());
armStepper.setAcceleration(acceleration);
Serial.print(F(" -Acceleration:\t"));
Serial.println(acceleration);
Serial.print(F(" -Position:\t"));
Serial.println(armStepper.currentPosition());
Serial.println(F("Attaching kopStepper:\t"));
kopStepper.setMaxSpeed(180 * rpm2steps);
Serial.print(F(" -Max speed:\t"));
Serial.println(kopStepper.maxSpeed());
kopStepper.setAcceleration(acceleration);
Serial.print(F(" -Acceleration:\t"));
Serial.println(acceleration);
Serial.print(F(" -Position:\t"));
Serial.println(kopStepper.currentPosition());
Serial.println(F("Attaching shaftStepper:\t"));
shaftStepper.setMaxSpeed(220 * rpm2steps);
Serial.print(F(" -Max speed:\t"));
Serial.println(shaftStepper.maxSpeed());
shaftStepper.setAcceleration(acceleration);
Serial.print(F(" -Acceleration:\t"));
Serial.println(acceleration);
Serial.print(F(" -Position:\t"));
Serial.println(shaftStepper.currentPosition());
Serial.println(F("- SPI diabled"));
SPI.end();
Serial.println(F("Ariel has started"));
}
///////////////////////////////
//////////MAIN LOOP////////////
//////////////////////////////
#ifdef REMOTE
void loop() {
SPI.begin();
sensors.requestTemperatures(); // Send the command to get temperatures
Serial.print(F("Temperature for the Steppermotor is: "));
Serial.println(sensors.getTempC(motorShaftTemp));
if (nrf24ReceiveMessage(buf, &len))
{
Serial.println(F("Message received"));
int c = countCommand(commandos);
for (int n = 0; n < c; n += 1)
{
commandos[n].command = NULL;
commandos[n].value = NULL;
}
c = buf[0];
Serial.println("Received " + String(c) + " commands");
for (int n = 0; n < c; n += 1)
{
addCommand(commandos, (char)buf[n * 3 + 1], (((int)buf[n * 3 + 2]) << 8) + (int)buf[n * 3 + 3]);
}
//digitalWrite(11, LOW);
//digitalWrite(8, HIGH);
//radioSleep();
//SPI.transfer(0xAA);
//SPI.setDataMode(SPI_MODE0);
//delay(2000);
SPI.endTransaction();
SPI.end();
shaftStepper.disableOutputs();
Serial.println(digitalRead(9));
Serial.println(digitalRead(11));
Serial.println(digitalRead(12));
Serial.println(digitalRead(12));
shaftStepper.enableOutputs();
Serial.println(F("Received commands!"));
Serial.println();
printCommand(commandos);
Serial.println(F("Waiting 3 seconds before executing"));
delay(3000);
runCommand(commandos);
delay(1000);
Serial.println();
sensors.requestTemperatures(); // Send the command to get temperatures
Serial.print(F("Temperature for the Steppermotor is: "));
Serial.println(sensors.getTempC(motorShaftTemp));
Serial.println("DONE!");
}
}
#else
void loop()
{
int c = Serial.read();
switch (c)
{
case '-':
{
remoteStep--;
if (remoteStep == 0)
remoteStep = 1;
Serial.print(F("Stepsize: "));
Serial.println(remoteStep);
break;
}
case '+':
{
remoteStep++;
Serial.print(F("Stepsize: "));
Serial.println(remoteStep);
break;
}
case '(':
{
kopSpeed -= remoteStep;
if (kopSpeed < 0)
kopSpeed = 0;
Serial.print(F("kopSpeed: "));
Serial.println(kopSpeed);
break;
}
case ')':
{
kopSpeed += remoteStep;
if (kopSpeed > kopStepper.maxSpeed())
kopSpeed = kopStepper.maxSpeed();
Serial.print(F("kopSpeed: "));
Serial.println(kopSpeed);
break;
}
case '0':
{
Serial.println(F("All stop!"));
SPI.end();
kopStepper.stop();
while (kopStepper.distanceToGo())
kopStepper.run();
kopSpeed = 0;
grabberNeutral();
armNeutral();
kopStepper.disableOutputs();
armStepper.disableOutputs();
shaftStepper.disableOutputs();
break;
}
case '4':
{
grabPos += remoteStep;
grabberTurnPos(grabPos);
break;
}
case '6':
{
grabPos -= remoteStep;
grabberTurnPos(grabPos);
break;
}
case '8':
{
debug(F("arm offset: "));
debug(armOffset);
armPos += remoteStep;
armTurnPos(armPos);
break;
}
case '2':
{
debug(F("arm offset: "));
debug(armOffset);
armPos -= remoteStep;
armTurnPos(armPos);
break;
}
case '5':
{
Serial.println(F("turning one round @60RPM: "));
kopStepper.setSpeed(60 * rpm2steps);
kopStepper.move(stepsPerRevolution);
kopStepper.runSpeedToPosition();
break;
}
case 'c':
{
r_Cut();
break;
}
case 'r':
{
r_RPMtester(kopStepper);
break;
}
case 'd':
{
r_DirectionTest();
break;
}
case '*':
{
sensors.requestTemperatures(); // Send the command to get temperatures
Serial.print(F("Temperature for the Steppermotor is: "));
Serial.println(sensors.getTempC(motorShaftTemp));
break;
}
case '.':
{
Serial.println(F("Locking the motor for 1 second"));
kopStepper.setSpeed(0);
kopStepper.move(1);
kopStepper.move(-1);
unsigned long previousMillis = millis();
while (millis() - previousMillis <= 1000)
kopStepper.runSpeed();
kopStepper.disableOutputs();
break;
}
case '/':
{
Serial.println(F("Swithcing motor direction"));
motorDirection *= -1;
break;
case '[':
{
Serial.println(F("Reseting arm motor position to 0"));
armStepper.setCurrentPosition(armStepper.currentPosition());
break;
}
case ']':
{
Serial.print(F("Current arm motor position: "));
Serial.println(armStepper.currentPosition());
break;
}
case '{':
{
Serial.println(F("Reseting shaft motor position to 0"));
shaftStepper.setCurrentPosition(shaftStepper.currentPosition());
break;
}
case '}':
{
Serial.print(F("Current shaft motor position: "));
Serial.println(shaftStepper.currentPosition());
break;
}
case '9':
{
Serial.println(F("Extending shaft"));
shaftStepper.moveTo(900);
shaftStepper.runToPosition();
shaftStepper.disableOutputs();
break;
}
case '7':
{
Serial.println(F("Retracting shaft"));
shaftStepper.moveTo(0);
shaftStepper.runToPosition();
shaftStepper.disableOutputs();
break;
}
case '3':
{
Serial.println(F("Extending arm "));
armStepper.moveTo(750);
armStepper.runToPosition();
armStepper.disableOutputs();
break;
}
case '1':
{
Serial.println(F("Retracting arm "));
armStepper.moveTo(0);
armStepper.runToPosition();
armStepper.disableOutputs();
break;
}
case 't':
{
Serial.println("Testing command ");
addCommand(commandos, 't', 1);
addCommand(commandos, 'W', 0);
addCommand(commandos, 'D', 0);
addCommand(commandos, 'c', 0);
addCommand(commandos, 'A', 0);
addCommand(commandos, 'S', 0);
addCommand(commandos, 't', 2);
addCommand(commandos, 'W', 0);
addCommand(commandos, 'D', 0);
addCommand(commandos, 'i', 0);
addCommand(commandos, 'A', 0);
addCommand(commandos, 'S', 0);
addCommand(commandos, 't', 3);
addCommand(commandos, 'W', 0);
addCommand(commandos, 'D', 0);
addCommand(commandos, 'i', 180);
addCommand(commandos, 'A', 0);
addCommand(commandos, 'S', 0);
addCommand(commandos, 't', 0);
delay(1000);
printCommand(commandos);
delay(1000);
runCommand(commandos);
break;
}
case 'g':
{
Serial.println("Arduin Routine");
addCommand(commandos, 'i', 180);
addCommand(commandos, 'd', 1000);
addCommand(commandos, 'i', 0);
addCommand(commandos, 'u', 180);
addCommand(commandos, 'd', 1000);
addCommand(commandos, 'u', 90);
addCommand(commandos, 'd', 1000);
addCommand(commandos, 'u', 0);
addCommand(commandos, 'd', 500);
addCommand(commandos, 'i', 180);
addCommand(commandos, 'd', 1000);
addCommand(commandos, 'i', 0);
printCommand(commandos);
delay(1000);
runCommand(commandos);
break;
}
case '<':
{
Serial.println(F("Spooling up kopStepper"));
kopStepper.move(-2000);
while (kopStepper.distanceToGo() < -1000)
kopStepper.run();
motorDirection = -1;
kopSpeed = -kopStepper.maxSpeed();
break;
}
case '>':
{
Serial.println(F("Spooling up kopStepper"));
kopStepper.move(2000);
while (kopStepper.distanceToGo() > 1000)
kopStepper.run();
motorDirection = 1;
kopSpeed = kopStepper.maxSpeed();
break;
}
}
}
// set the motor speed in RPM:
if (kopSpeed) {
kopStepper.setSpeed(motorDirection * kopSpeed * rpm2steps);
kopStepper.runSpeed(); //Run motor at set speed.
}
else
kopStepper.disableOutputs();
}
#endif // REMOTE
Robot.vcxproj
<?xml version="1.0" encoding="utf-8"?> <Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> <ItemGroup Label="ProjectConfigurations"> <ProjectConfiguration Include="Debug|Win32"> <Configuration>Debug</Configuration> <Platform>Win32</Platform> </ProjectConfiguration> <ProjectConfiguration Include="Release|Win32"> <Configuration>Release</Configuration> <Platform>Win32</Platform> </ProjectConfiguration> </ItemGroup> <PropertyGroup Label="Globals"> <ProjectGuid>{E107B750-A178-4195-BCF5-E1DADA3D52A1}</ProjectGuid> <RootNamespace>Robot</RootNamespace> <ProjectName>Robot</ProjectName> </PropertyGroup> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" /> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration"> <ConfigurationType>Application</ConfigurationType> <UseDebugLibraries>true</UseDebugLibraries> <PlatformToolset>v140</PlatformToolset> <CharacterSet>MultiByte</CharacterSet> 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<OptimizeReferences>true</OptimizeReferences> </Link> </ItemDefinitionGroup> <ItemGroup> <None Include="..\Shared\CommandBook.ino" /> <None Include="..\Shared\nrf24communication.ino" /> <None Include="functions.ino" /> <None Include="Robot.ino" /> <None Include="routine.ino" /> </ItemGroup> <ItemGroup> <ClInclude Include="__vm\.Robot.vsarduino.h" /> </ItemGroup> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" /> <ImportGroup Label="ExtensionTargets"> </ImportGroup> <ProjectExtensions> <VisualStudio> <UserProperties arduino.upload.maximum_size="30720" arduino.upload.speed="57600" visualmicro.package.name="arduino" arduino.board.property_bag="name=Arduino Duemilanove or Diecimila w/ ATmega328
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 upload.protocol=arduino
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 bootloader.low_fuses=0xFF
 bootloader.unlock_bits=0x3F
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 build.f_cpu=16000000L
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 build.usb_manufacturer="Unknown"
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 avrisp.name=AVR ISP
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 usbGemma.name=Arduino Gemma
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 usbGemma.config.path={runtime.platform.path}/bootloaders/gemma/avrdude.conf
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 runtime.tools.avrdude.path=C:\Program Files (x86)\Arduino\hardware\tools\avr
 runtime.tools.avrdude-6.0.1-arduino5.path=C:\Program Files (x86)\Arduino\hardware\tools\avr
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 runtime.tools.avr-gcc-4.8.1-arduino5.path=C:\Program Files (x86)\Arduino\hardware\tools\avr
 upload.maximum_size=30720
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 bootloader.high_fuses=0xDA
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 bootloader.file=atmega/ATmegaBOOT_168_atmega328.hex
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 runtime.vm.boardinfo.id=diecimila_atmega328
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 ide.includes.fallback=wprogram.h
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 " visualmicro.application.name="arduino16x" arduino.build.mcu="atmega328p" arduino.upload.protocol="arduino" arduino.build.f_cpu="16000000L" arduino.board.desc="Arduino Duemilanove or Diecimila w/ ATmega328" arduino.board.name="diecimila_atmega328" arduino.upload.port="COM5" visualmicro.platform.name="avr" arduino.build.core="arduino" /> </VisualStudio> </ProjectExtensions> </Project>
Robot.vcxproj.filters
<?xml version="1.0" encoding="utf-8"?> <Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> <ItemGroup> <Filter Include="Source Files"> <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier> <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions> </Filter> <Filter Include="Header Files"> <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier> <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions> </Filter> <Filter Include="Resource Files"> <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier> <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions> </Filter> </ItemGroup> <ItemGroup> <None Include="functions.ino" /> <None Include="routine.ino" /> <None Include="..\Shared\nrf24communication.ino" /> <None Include="Robot.ino" /> <None Include="..\Shared\CommandBook.ino" /> </ItemGroup> <ItemGroup> <ClInclude Include="__vm\.Robot.vsarduino.h"> <Filter>Header Files</Filter> </ClInclude> </ItemGroup> </Project>
functions.ino
////////////////////////////////////////
//////ARM AND GRABBER FUNCTIONS/////////
////////////////////////////////////////
void armNeutral()
{
debugln("Arm to neutral position");
servoArm.write(armNeutralPosition); //neutral position
armPos = armNeutralPosition;
delay(100);
}
void grabberNeutral()
{
debugln("Grabber to neutral position");
servoGrab.write(grabberNeutralPosition); //neutral position
grabPos = grabberNeutralPosition;
delay(200);
}
void grabberGrab()
{
debugln("Grabbing");
servoGrab.write(180);
delay(1000);
servoGrab.write(grabberGrabPosition); //Grab (and move up arm?)
delay(1000);
}
void grabberTurnPos(int pos)
{
debug("Grabber to position ");
debugln(pos);
servoGrab.write(pos); //servo position
delay(100);
}
void armTurnPos(int pos)
{
debug("Arm to position ");
debugln(pos);
servoArm.write(pos); //servo position
delay(100);
}
void resetServos()
{
debugln("Resetting servo");
delay(80);
servoGrab.write(grabPos + 1);
servoArm.write(armPos + 1);
delay(20);
servoGrab.write(grabPos);
servoArm.write(armPos);
}
void leBlink(int ledPin, int n)
{
for (int i = 0; i < n; i++)
{
digitalWrite(ledPin, HIGH); // turn the LED on (HIGH is the voltage level)
delay(100); // wait for a second
digitalWrite(ledPin, LOW); // turn the LED off by making the voltage LOW
delay(100); // wait for a second
}
}
/*not used
void setTemperatureAlarm(int temp)
{
sensors.setLowAlarmTemp(motorShaftTemp, -10);
sensors.setHighAlarmTemp(motorShaftTemp, temp);
}
void checkAlarm()
{
if (sensors.hasAlarm())
{
Serial.println("ALARM ON MOTOR 1");
}
}*/
routine.ino
void r_Cut()
{
grabberGrab();
for (int i = 0; i < 20; i++)
{
armTurnPos(armPos + 45);
delay(200);
armTurnPos(armPos - 45);
delay(200);
}
delay(500);
grabberNeutral();
armTurnPos(armPos);
}
void r_Grab()
{
grabberGrab();
grabberNeutral();
armTurnPos(armPos);
}
void r_RPMtester(AccelStepper driver)
{
Serial.println(F("Testing RPM:"));
Serial.print(F(" -Max speed: "));
Serial.println(driver.maxSpeed());
for (int i = 100; i < 500; i += 50)
{
Serial.print(F(" -Acceleration: "));
Serial.println(i);
driver.setAcceleration(i);
driver.move(500 * stepsPerRevolution);
while (driver.distanceToGo())
driver.run();
Serial.println(F("Starting next iteration in 1 second"));
delay(1000);
}
Serial.println(F("Nope....Test is over. Resuming in 3 seconds"));
delay(3000);
}
void r_DirectionTest()
{
Serial.println(F("Testing Drirectoion:"));
Serial.println(F("------------------"));
Serial.println(F("Arm motor +"));
armStepper.move(50);
armStepper.runToPosition();
armStepper.move(-50);
armStepper.runToPosition();
armStepper.disableOutputs();
Serial.println(F("Shaft motor +"));
shaftStepper.move(50);
shaftStepper.runToPosition();
shaftStepper.move(-50);
shaftStepper.runToPosition();
shaftStepper.disableOutputs();
Serial.println(F("Kop motor +"));
kopStepper.move(50);
kopStepper.runToPosition();
kopStepper.move(-50);
kopStepper.runToPosition();
kopStepper.disableOutputs();
}
void r_MovePlant(int plant)
{
kopStepper.moveTo((int)200*plant);
kopStepper.runToPosition();
}
CommandBook.ino
int countCommand(CommandBook *book)
{
int c = 0;
while (book[c].command != NULL && c < BOOKSIZE)
c++;
return c;
}
bool addCommand(CommandBook *book, char command, int value)
{
int c = countCommand(book);
if (c >= BOOKSIZE) {
return false;
}
book[c].command = command;
book[c].value = value;
return true;
}
#ifndef BASESTATION
void runCommand(CommandBook *book)
{
int c = countCommand(book);
for (int i = 0; i < c; i++)
{
switch (book[i].command)
{
case 't':
{
r_MovePlant(book[i].value);
break;
}
case 'c':
{
r_Cut();
break;
}
case 'g':
{
r_Grab();
break;
}
case 'r':
{
r_MovePlant(0);
break;
}
case 'W':
{
shaftStepper.enableOutputs();
shaftStepper.moveTo(900);
shaftStepper.runToPosition();
shaftStepper.disableOutputs();
break;
}
case 'S':
{
shaftStepper.enableOutputs();
shaftStepper.moveTo(0);
shaftStepper.runToPosition();
//shaftStepper.disableOutputs(); //Keeping the shaft on it's place ONE TIME ONLY FOR DEMO (MABYE 2-3, but check temperature)
break;
}
case 'D':
{
armStepper.enableOutputs();
armStepper.moveTo(750);
armStepper.runToPosition();
armStepper.disableOutputs();
break;
}
case 'A':
{
armStepper.enableOutputs();
armStepper.moveTo(0);
armStepper.runToPosition();
armStepper.disableOutputs();
break;
}
case 'u':
{
armTurnPos(book[i].value);
break;
}
case 'i':
{
grabberTurnPos(book[i].value );
break;
}
case 'd':
{
delay(book[i].value);
break;
}
case 'm':
{
kopStepper.move(book[i].value);
break;
}
default: // "undef"
break;
book[i].command = NULL;
book[i].value = NULL;
}
Serial.print('-');
Serial.print(book[i].command);
Serial.print('\t');
Serial.print(book[i].value);
Serial.println("\tDone");
}
Serial.println("All commands done.");
}
#endif // BASESTATION
void printCommand(CommandBook *book)
{
int c = countCommand(book);
Serial.println(F("Commandos in book:"));
for (int i = 0; i < c; i++)
{
Serial.print('-');
Serial.print(book[i].command);
Serial.print('\t');
Serial.println(book[i].value);
}
Serial.println(F("-END OF COMMANDS"));
}
bool deleteCommand(CommandBook *book)
{
int c = countCommand(book);
if (c == 0) {
return false;
}
book[c - 1].command = NULL;
book[c - 1].value = NULL;
return true;
}
bool sendCommand(CommandBook *book) {
int c = countCommand(book);
uint8_t* buf = new uint8_t[BOOKSIZE * 3 + 1];
buf[0] = c;
for (int n = 0; n < c; n += 1) {
buf[(n * 3) + 1] = (uint8_t) book[n].command;
buf[(n * 3) + 2] = (uint8_t) (book[n].value >> 8);
buf[(n * 3) + 3] = (uint8_t)(book[n].value & 0xFF);
}
Serial.println(F("Sending message..."));
bool result = nrf24SendMessage(buf, c * 3 + 1);
delete buf;
return result;
}
nrf24communication.ino
#include <RHReliableDatagram.h>
#include <RH_NRF24.h>
#include <SPI.h>
#define CLIENT_ADDRESS 1
#define SERVER_ADDRESS 2
// Singleton instance of the radio driver
RH_NRF24 driver;
// RH_NRF24 driver(8, 7); // For RFM73 on Anarduino Mini
// Class to manage message delivery and receipt, using the driver declared above
RHReliableDatagram manager(driver);
bool isServer;
uint8_t _nrf24_buf[32];
uint8_t _nrf24_blen = 0;
bool nrf24Initialize(bool server) {
Serial.print(F(" -Initiating radio:\t"));
if (manager.init()) {
Serial.println(F("OK"));
Serial.print(F(" -Setting radio channel:\t"));
if (!driver.setChannel(1)) {
return false;
Serial.println(F("setChannel failed"));
}
else {
Serial.println(F("Channel 1"));
}
Serial.print(F(" -Setting radio settings:\t"));
if (!driver.setRF(RH_NRF24::DataRate2Mbps, RH_NRF24::TransmitPower0dBm)) {
Serial.println(F("setRF failed"));
return false;
}
else {
Serial.println(F("2Mbps, 0dBm"));
}
}
else {
Serial.println(F("FAILED!!!"));
return false;
}
if (server) {
manager.setThisAddress(SERVER_ADDRESS);
}
else {
manager.setThisAddress(CLIENT_ADDRESS);
}
isServer = server;
return true;
}
bool compareBuffers(uint8_t *buf1, uint8_t *buf2, uint8_t len) {
for (uint8_t n = 0; n < len; n += 1) {
if (buf1[n] != buf2[n]) {
return false;
}
}
return true;
}
void nrf24DebugPrint(char* str) {
if (true) {
Serial.println(str);
}
}
bool nrf24ReceiveMessage(uint8_t* str, uint8_t* len) {
uint8_t from;
if (!manager.waitAvailableTimeout(3000)) {
return false;
}
if (!manager.recvfromAck(str, len, &from)) {
debugln(F("Couldn't receive message"));
return false;
}
uint8_t* _nrf24_buf = (uint8_t *) "OK";
if (manager.sendtoWait(_nrf24_buf, 3, from)) {
return true;
}
debugln(F("Did not receive acknowledgement on 'OK'"));
return false;
}
bool nrf24SendMessage(uint8_t* str, uint8_t len) {
uint8_t address = SERVER_ADDRESS;
if (isServer) {
address = CLIENT_ADDRESS;
}
if (!manager.sendtoWait(str, len, address)) {
debugln(F("No acknowledgement received"));
return false;
}
if (!manager.waitAvailableTimeout(1000)) {
return false;
}
uint8_t from;
if (manager.recvfromAck(_nrf24_buf, &_nrf24_blen, &from)) {
return true;
}
debugln(F("Could not receive 'OK'"));
return false;
}
bool radioSleep()
{
driver.setModeIdle();
if (driver.sleep())
{
return true;
}
else
return false;
}