Revision c5d6b0e8
Adding better arduino code.
arduino/RCbuggyMega/RCbuggyMega.ino | ||
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/* |
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* @file RCbuggyMega |
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* @brief Receives data from XBee, and uses this data to control the buggy. |
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* |
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* Pinout circuit: |
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* Serial1: Used for XBee |
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* RX is digital pin 2 (connect to TX of XBee) |
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* TX is digital pin 3 (connect to RX of XBee) |
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* |
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* Serial: Used for Programming/Debugging |
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* Connect for debugging. |
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* |
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Makes Arduino receive input from xbee and parse data. |
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The circuit: |
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* RX is digital pin 2 (connect to TX of XBee) |
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* TX is digital pin 3 (connect to RX of XBee) |
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*/ |
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#include <Servo.h> |
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Servo myservo; // create servo object to control a servo |
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#define XBEE_BAUD 9600 |
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#define DEBUG_BAUD 9600 |
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#define PIN_LED_XBEE_INDICATOR 4 |
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#define PIN_LED_BRAKE_DEPLOYED 5 |
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// comes on after two seconds of lost connection |
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#define PIN_LED_LOSS_CONNECTION 12 |
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#define PIN_BRAKE_DEPLOY_OUT 8 |
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#define PIN_SERVO_OUT 9 |
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// Default value for the wheel. |
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#define SERVO_WHEEL_DEFAULT 133 |
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//#include <SoftwareSerial.h> |
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#include <Servo.h> |
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#define PIN_HALL_EFFECT_IN 10
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Servo myservo; // create servo object to control a servo
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// Packet-sending variables
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//SoftwareSerial xbee(2, 3); // RX, TX
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unsigned long timer = 0L; |
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char data; |
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String message; |
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char intbuf[32]; |
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// Buggy variables |
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int brake = 0; |
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int steeringAngle = 135; |
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int pingPong = 1; |
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// String parsing variables |
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int startfound = 0; |
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int midfound = 0; |
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int endfound = 1; |
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int brakePin = 8; |
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int brakeLedPin = 5; |
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void setup() { |
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// Initialize debug serial and xbee serial. |
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Serial.begin(DEBUG_BAUD); |
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Serial1.begin(XBEE_BAUD); |
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pinMode(PIN_LED_XBEE_INDICATOR, OUTPUT); |
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pinMode(PIN_LED_BRAKE_DEPLOYED, OUTPUT); |
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pinMode(PIN_BRAKE_DEPLOY_OUT, OUTPUT); |
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myservo.attach(PIN_SERVO_OUT); // attaches the servo on pin 9 to the servo object |
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Serial.begin(9600); |
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//Serial.println( "Arduino started sending bytes via XBee" ); |
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Serial1.begin(9600); |
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pinMode(4, OUTPUT); |
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pinMode(5, OUTPUT); |
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pinMode(8, OUTPUT); |
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brake_init(brakePin, brakeLedPin); // initialize the brake with brake pin and led brake pin |
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myservo.attach(9); // attaches the servo on pin 9 to the servo object |
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myservo.write(133); |
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} |
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// sets the servo position |
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myservo.write(steeringAngle); |
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} |
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