PRE2015 4 Groep5 Code
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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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<OptimizeReferences>true</OptimizeReferences> </Link> </ItemDefinitionGroup> <ItemGroup> <None Include="..\Shared\CommandBook.ino" /> <None Include="..\Shared\nrf24communication.ino" /> <None Include="BaseStation.ino"> <FileType>CppCode</FileType> </None> <None Include="menu.ino" /> </ItemGroup> <ItemGroup> <ClInclude Include="CustomNumericMenuItem.h" /> <ClInclude Include="__vm\.BaseStation.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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 avrisp.communication=serial
 avrisp.protocol=stk500v1
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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="COM4" visualmicro.platform.name="avr" arduino.build.core="arduino" /> </VisualStudio> </ProjectExtensions> </Project>
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
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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
 upload.tool=avrdude
 upload.protocol=arduino
 bootloader.tool=avrdude
 bootloader.low_fuses=0xFF
 bootloader.unlock_bits=0x3F
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 menu.cpu.atmega328.bootloader.extended_fuses=0x05
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 menu.cpu.atmega328.build.mcu=atmega328p
 menu.cpu.atmega168=ATmega168
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 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
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 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.program.params.verbose=-v
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 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"
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 tools.atprogram.erase.params.quiet=-q
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 compiler.warning_flags.more=-Wall
 compiler.warning_flags.all=-Wall -Wextra
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 compiler.c.elf.flags={compiler.warning_flags} -Os -Wl,--gc-sections
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 compiler.cpp.cmd=avr-g++
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 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=
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 compiler.cpp.extra_flags=
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 compiler.objcopy.eep.extra_flags=
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 recipe.c.o.pattern="{compiler.path}{compiler.c.cmd}" {compiler.c.flags} -mmcu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.c.extra_flags} {build.extra_flags} {includes} "{source_file}" -o "{object_file}"
 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}
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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"
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 recipe.size.regex.data=^(?:\.data|\.bss|\.noinit)\s+([0-9]+).*
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 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}"
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 recipe.preproc.macros="{compiler.path}{compiler.cpp.cmd}" {compiler.cpp.flags} {preproc.macros.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 "{preprocessed_file_path}"
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 tools.avrdude.cmd.path={path}/bin/avrdude
 tools.avrdude.config.path={path}/etc/avrdude.conf
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 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"
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 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"
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 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
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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; }