robobuggy / arduino / RCbuggyMega / RCbuggyMega.ino @ c5d6b0e8
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1 | 08263708 | Haley | /* |
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2 | c5d6b0e8 | msebek | Makes Arduino receive input from xbee and parse data. |
3 | |||
4 | The circuit: |
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5 | * RX is digital pin 2 (connect to TX of XBee) |
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6 | * TX is digital pin 3 (connect to RX of XBee) |
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7 | |||
8 | 08263708 | Haley | */ |
9 | 02df64f0 | Matt Sebek | |
10 | c5d6b0e8 | msebek | //#include <SoftwareSerial.h> |
11 | #include <Servo.h> |
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12 | 02df64f0 | Matt Sebek | |
13 | c5d6b0e8 | msebek | Servo myservo; // create servo object to control a servo |
14 | 02df64f0 | Matt Sebek | |
15 | c5d6b0e8 | msebek | //SoftwareSerial xbee(2, 3); // RX, TX |
16 | 08263708 | Haley | unsigned long timer = 0L; |
17 | char data; |
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18 | String message; |
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19 | char intbuf[32]; |
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20 | int brake = 0; |
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21 | int steeringAngle = 135; |
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22 | int pingPong = 1; |
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23 | int startfound = 0; |
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24 | int midfound = 0; |
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25 | int endfound = 1; |
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26 | |||
27 | c5d6b0e8 | msebek | int brakePin = 8; |
28 | int brakeLedPin = 5; |
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29 | |||
30 | 08263708 | Haley | void setup() { |
31 | c5d6b0e8 | msebek | Serial.begin(9600); |
32 | //Serial.println( "Arduino started sending bytes via XBee" ); |
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33 | Serial1.begin(9600); |
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34 | |||
35 | pinMode(4, OUTPUT); |
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36 | pinMode(5, OUTPUT); |
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37 | pinMode(8, OUTPUT); |
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38 | |||
39 | brake_init(brakePin, brakeLedPin); // initialize the brake with brake pin and led brake pin |
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40 | |||
41 | myservo.attach(9); // attaches the servo on pin 9 to the servo object |
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42 | 08263708 | Haley | myservo.write(133); |
43 | } |
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44 | |||
45 | void loop() { |
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46 | |||
47 | // receive and parse message from xbee |
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48 | if(Serial1.available() > 0) { |
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49 | |||
50 | timer = millis(); |
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51 | |||
52 | // read message from xbee |
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53 | data = Serial1.read(); |
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54 | |||
55 | // parse message data |
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56 | if (data == 'A') { |
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57 | startfound = 1; |
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58 | midfound = 0; |
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59 | endfound = 0; |
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60 | message = ""; |
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61 | } |
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62 | else if (data == 'B') { |
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63 | startfound = 0; |
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64 | midfound = 1; |
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65 | endfound = 0; |
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66 | } |
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67 | else if (data == 'C') { |
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68 | startfound = 0; |
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69 | midfound = 0; |
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70 | endfound = 1; |
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71 | } |
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72 | else if (startfound) { |
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73 | message = message + data; |
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74 | } |
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75 | else if (midfound) { |
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76 | if(data == '1') |
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77 | brake = 1; |
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78 | else |
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79 | brake = 0; |
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80 | message.toCharArray(intbuf, sizeof(intbuf)); |
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81 | steeringAngle = atoi(intbuf); |
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82 | } |
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83 | |||
84 | // flop external LED everytime message is recieved |
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85 | if ( pingPong == 0 ) { |
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86 | digitalWrite(4, LOW); |
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87 | } |
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88 | else { |
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89 | digitalWrite(4, HIGH); |
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90 | } |
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91 | |||
92 | pingPong = 1 - pingPong; |
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93 | |||
94 | } // end receive message |
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95 | |||
96 | // brake if it has been greater than 3 seconds since we last got a message |
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97 | if( (millis() - timer) > 5000L ) { |
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98 | digitalWrite(8, 0); |
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99 | digitalWrite(5, HIGH); |
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100 | exit(1); |
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101 | } |
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102 | |||
103 | if((millis() - timer) > 2000L) { |
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104 | digitalWrite(12, HIGH); |
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105 | } |
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106 | else { |
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107 | digitalWrite(12, LOW); |
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108 | } |
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109 | |||
110 | // make brake LED light up if brakes should be down |
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111 | if( brake == 0 ) { |
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112 | digitalWrite(5, HIGH); |
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113 | } |
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114 | else { |
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115 | digitalWrite(5, LOW); |
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116 | } |
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117 | |||
118 | // send parsed signal to brakes and servo |
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119 | digitalWrite(8, brake); |
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120 | |||
121 | // sets the servo position |
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122 | myservo.write(steeringAngle); |
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123 | } |
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124 | c5d6b0e8 | msebek |