Revision 6331ce9f
and .... now it compiles
| arduino/RCbuggyMega/RCbuggyMega.ino | ||
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*/ |
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//#include <SoftwareSerial.h>
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#include <SoftwareSerial.h> |
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#include <Servo.h> |
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#include "brake.h" |
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#include "xbee.h" |
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#define BRAKE_PIN 8 |
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#define BRAKE_INDICATOR_PIN 5 |
| ... | ... | |
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#define SERVO_PIN 9 |
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unsigned long timer = 0L; |
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char data; |
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Servo myservo; // create servo object to control a servo |
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void setup() {
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| ... | ... | |
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xbee_init(XBEE_LED_PIN); |
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// initialize the brake with brake pin and led brake pin |
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brake_init(brakePin, brakeLedPin);
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brake_init(BRAKE_PIN, BRAKE_INDICATOR_PIN);
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myservo.attach(SERVO_PIN); // attaches the servo on pin 9 to the servo object |
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myservo.write(STEEING_CENTER);
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myservo.write(getSteeringAngle());
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} |
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void loop() {
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| ... | ... | |
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int steeringAngle = getSteeringAngle(); |
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s // sets the servo position
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// sets the servo position |
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myservo.write(steeringAngle); |
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} |
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| arduino/RCbuggyMega/brake.h | ||
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/** |
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* @file brake.h |
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* @author Audrey Yeoh (ayeoh) |
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* @author Matt Sebek (msebek) |
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* |
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* Initializes, raises, drops, and gets-state of |
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* the brakes. |
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* |
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*/ |
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#ifndef _BRAKE_H_ |
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#define _BRAKE_H_ |
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void brake_init(int brakePin, int indicatorLedPin); |
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void brake_raise(); |
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void brake_drop(); |
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/** |
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* @file brake.h |
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* @author Audrey Yeoh (ayeoh) |
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* @author Matt Sebek (msebek) |
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* |
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* Initializes, raises, drops, and gets-state of |
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* the brakes. |
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* |
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*/ |
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#ifndef _BRAKE_H_ |
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#define _BRAKE_H_ |
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#ifdef __cplusplus |
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extern "C"{
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#endif |
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void brake_init(int brakePin, int indicatorLedPin); |
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void brake_raise(); |
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void brake_drop(); |
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#ifdef __cplusplus |
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} // extern "C" |
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#endif |
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#endif |
| arduino/RCbuggyMega/xbee.c | ||
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/** |
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* Code relating to something I'm not sure yet |
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* @author Audrey Yeoh (ayeoh) |
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* |
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*/ |
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#include <Arduino.h> |
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#include "xbee.h" |
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#define STEERING_CENTER 133 |
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// holds the data read from the serial xbee |
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static char data; |
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// holds the message itself |
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static String message; |
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static int pingPong = 1; |
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static int startFound = 0; |
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static int midFound = 0; |
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static int endFound = 1; |
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static char intbuf[32]; |
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static int steeringAngle = STEERING_CENTER; |
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static int brake = 0; |
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static int led; |
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void xbee_init(int ledPin){
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pinMode(ledPin, OUTPUT); |
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led = ledPin; |
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} |
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// parses the data from the xbee serial |
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void parse(char data){
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switch(data){
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case 'A': |
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startFound = 1; |
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midFound = 0; |
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endFound = 0; |
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message = ""; |
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break; |
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case 'B': |
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startFound = 0; |
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midFound = 1; |
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endFound = 0; |
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break; |
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case 'C': |
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startFound = 0; |
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midFound = 0; |
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endFound =1; |
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break; |
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default: // all other cases |
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if (startFound){
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message = message + data; |
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}else if (midFound){
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if (data == '1'){
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brake = 1; |
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}else{
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brake = 0; |
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} |
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message.toCharArray(intbuf, sizeof(intbuf)); |
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steeringAngle = atoi(intbuf); |
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} |
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break; |
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} |
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} |
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int getSteeringAngle(){
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return steeringAngle; |
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} |
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int getBrake(){
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return brake; |
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} |
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// flops an led everytime a message is received. |
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// Helps to debug whether messages are received |
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void debugMessage(){
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if (pingPong == 0){
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digitalWrite(led, LOW); |
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}else{
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digitalWrite(led, HIGH); |
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} |
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pingPong = 1 - pingPong; |
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} |
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| arduino/RCbuggyMega/xbee.cpp | ||
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/** |
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* Code relating to something I'm not sure yet |
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* @author Audrey Yeoh (ayeoh) |
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* |
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*/ |
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#include <Arduino.h> |
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#include "xbee.h" |
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#define STEERING_CENTER 133 |
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// holds the data read from the serial xbee |
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static char data; |
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// holds the message itself |
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static String message; |
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static int pingPong = 1; |
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static int startFound = 0; |
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static int midFound = 0; |
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static int endFound = 1; |
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static char intbuf[32]; |
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static int steeringAngle = STEERING_CENTER; |
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static int brake = 0; |
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static int led; |
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void xbee_init(int ledPin){
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pinMode(ledPin, OUTPUT); |
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led = ledPin; |
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} |
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// parses the data from the xbee serial |
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void parse(char data){
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switch(data){
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case 'A': |
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startFound = 1; |
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midFound = 0; |
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endFound = 0; |
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message = ""; |
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break; |
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case 'B': |
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startFound = 0; |
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midFound = 1; |
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endFound = 0; |
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break; |
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case 'C': |
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startFound = 0; |
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midFound = 0; |
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endFound =1; |
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break; |
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default: // all other cases |
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if (startFound){
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message = message + data; |
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}else if (midFound){
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if (data == '1'){
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brake = 1; |
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}else{
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brake = 0; |
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} |
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message.toCharArray(intbuf, sizeof(intbuf)); |
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steeringAngle = atoi(intbuf); |
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} |
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break; |
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} |
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} |
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int getSteeringAngle(){
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return steeringAngle; |
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} |
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int getBrake(){
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return brake; |
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} |
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// flops an led everytime a message is received. |
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// Helps to debug whether messages are received |
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void debugMessage(){
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if (pingPong == 0){
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digitalWrite(led, LOW); |
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}else{
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digitalWrite(led, HIGH); |
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} |
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pingPong = 1 - pingPong; |
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} |
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