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Revision c5d6b0e8

IDc5d6b0e8075c55da9cf18670acfee64bc219fdd8
Parent 347a6e5d
Child 0c873a67

Added by Matthew Sebek about 10 years ago

Adding better arduino code.

View differences:

arduino/RCbuggyMega/RCbuggyMega.ino
1 1 
/*
2 
 * @file RCbuggyMega
3 
 * @brief Receives data from XBee, and uses this data to control the buggy.
4 
 *
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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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 *
2 
  Makes Arduino receive input from xbee and parse data.
3
4 
 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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13 8 
 */
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#include <Servo.h>
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Servo myservo;  // create servo object to control a servo
16 

  		




  17
  
  
    
#define XBEE_BAUD 9600


  		




  18
  
  
    
#define DEBUG_BAUD 9600


  		




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#define PIN_LED_XBEE_INDICATOR 4


  		




  20
  
  
    
#define PIN_LED_BRAKE_DEPLOYED 5


  		




  21
  
  
    
// comes on after two seconds of lost connection


  		




  22
  
  
    
#define PIN_LED_LOSS_CONNECTION 12 


  		




  23
  9
  
    

  		




  24
  
  
    
#define PIN_BRAKE_DEPLOY_OUT 8


  		




  25
  
  
    

  		




  26
  
  
    
#define PIN_SERVO_OUT 9


  		




  27
  
  
    

  		




  28
  
  
    
// Default value for the wheel. 


  		




  29
  
  
    
#define SERVO_WHEEL_DEFAULT 133


  		




  
  10
  
    
//#include <SoftwareSerial.h>


  		




  
  11
  
    
#include <Servo.h> 


  		




  30
  12
  
    

  		




  31
  
  
    
#define PIN_HALL_EFFECT_IN 10


  		




  
  13
  
    
Servo myservo;  // create servo object to control a servo 


  		




  32
  14
  
    

  		




  33
  
  
    
// Packet-sending variables


  		




  
  15
  
    
//SoftwareSerial xbee(2, 3); // RX, TX


  		




  34
  16
  
    
unsigned long timer = 0L;


  		




  35
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char data;


  		




  36
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String message;


  		




  37
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char intbuf[32];


  		




  38
  
  
    

  		




  39
  
  
    
// Buggy variables


  		




  40
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int brake = 0;


  		




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int steeringAngle = 135;


  		




  42
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int pingPong = 1;


  		




  43
  
  
    

  		




  44
  
  
    
// String parsing variables


  		




  45
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int startfound = 0;


  		




  46
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int midfound = 0;


  		




  47
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int endfound = 1;


  		




  48
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  27
  
    
int brakePin = 8;


  		




  
  28
  
    
int brakeLedPin = 5;


  		




  
  29
  
    

  		




  49
  30
  
    
void setup()  {


  		




  50
  
  
    
  // Initialize debug serial and xbee serial. 


  		




  51
  
  
    
  Serial.begin(DEBUG_BAUD);


  		




  52
  
  
    
  Serial1.begin(XBEE_BAUD);


  		




  53
  
  
    

  		




  54
  
  
    
  pinMode(PIN_LED_XBEE_INDICATOR, OUTPUT);


  		




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  pinMode(PIN_LED_BRAKE_DEPLOYED, OUTPUT);


  		




  56
  
  
    
  pinMode(PIN_BRAKE_DEPLOY_OUT, OUTPUT);


  		




  57
  
  
    
  myservo.attach(PIN_SERVO_OUT);  // attaches the servo on pin 9 to the servo object 


  		




  
  31
  
    
  Serial.begin(9600);


  		




  
  32
  
    
  //Serial.println( "Arduino started sending bytes via XBee" );


  		




  
  33
  
    
  Serial1.begin(9600);


  		




  
  34
  
    
  


  		




  
  35
  
    
  pinMode(4, OUTPUT);


  		




  
  36
  
    
  pinMode(5, OUTPUT);


  		




  
  37
  
    
  pinMode(8, OUTPUT);


  		




  
  38
  
    
  


  		




  
  39
  
    
  brake_init(brakePin, brakeLedPin); // initialize the brake with brake pin and led brake pin


  		




  
  40
  
    
  


  		




  
  41
  
    
  myservo.attach(9);  // attaches the servo on pin 9 to the servo object 


  		




  58
  42
  
    
  myservo.write(133);


  		




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}


  		




  60
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  ......




  137
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  // sets the servo position


  		




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  myservo.write(steeringAngle);


  		




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}


  		




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