[136] | 1 | #include "ArduinoRobotMotorBoard.h"
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| 2 | #include "EasyTransfer2.h"
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| 3 | #include "Multiplexer.h"
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| 4 | #include "LineFollow.h"
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| 5 |
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| 6 | RobotMotorBoard::RobotMotorBoard(){
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| 7 | //LineFollow::LineFollow();
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| 8 | }
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| 9 | /*void RobotMotorBoard::beginIRReceiver(){
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| 10 | IRrecv::enableIRIn();
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| 11 | }*/
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| 12 | void RobotMotorBoard::begin(){
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| 13 | //initialze communication
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| 14 | Serial1.begin(9600);
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| 15 | messageIn.begin(&Serial1);
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| 16 | messageOut.begin(&Serial1);
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| 17 |
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| 18 | //init MUX
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| 19 | uint8_t MuxPins[]={MUXA,MUXB,MUXC};
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| 20 | this->IRs.begin(MuxPins,MUX_IN,3);
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| 21 | pinMode(MUXI,INPUT);
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| 22 | digitalWrite(MUXI,LOW);
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| 23 |
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| 24 | isPaused=false;
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| 25 | }
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| 26 |
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| 27 | void RobotMotorBoard::process(){
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| 28 | if(isPaused)return;//skip process if the mode is paused
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| 29 |
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| 30 | if(mode==MODE_SIMPLE){
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| 31 | //Serial.println("s");
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| 32 | //do nothing? Simple mode is just about getting commands
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| 33 | }else if(mode==MODE_LINE_FOLLOW){
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| 34 | //do line following stuff here.
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| 35 | LineFollow::runLineFollow();
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| 36 | }else if(mode==MODE_ADJUST_MOTOR){
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| 37 | //Serial.println('a');
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| 38 | //motorAdjustment=analogRead(POT);
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| 39 | //setSpeed(255,255);
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| 40 | //delay(100);
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| 41 | }
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| 42 | }
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| 43 | void RobotMotorBoard::pauseMode(bool onOff){
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| 44 | if(onOff){
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| 45 | isPaused=true;
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| 46 | }else{
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| 47 | isPaused=false;
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| 48 | }
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| 49 | stopCurrentActions();
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| 50 |
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| 51 | }
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| 52 | void RobotMotorBoard::parseCommand(){
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| 53 | uint8_t modeName;
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| 54 | uint8_t codename;
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| 55 | int value;
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| 56 | int speedL;
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| 57 | int speedR;
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| 58 | if(this->messageIn.receiveData()){
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| 59 | //Serial.println("data received");
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| 60 | uint8_t command=messageIn.readByte();
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| 61 | //Serial.println(command);
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| 62 | switch(command){
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| 63 | case COMMAND_SWITCH_MODE:
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| 64 | modeName=messageIn.readByte();
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| 65 | setMode(modeName);
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| 66 | break;
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| 67 | case COMMAND_RUN:
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| 68 | if(mode==MODE_LINE_FOLLOW)break;//in follow line mode, the motor does not follow commands
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| 69 | speedL=messageIn.readInt();
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| 70 | speedR=messageIn.readInt();
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| 71 | motorsWrite(speedL,speedR);
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| 72 | break;
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| 73 | case COMMAND_MOTORS_STOP:
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| 74 | motorsStop();
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| 75 | break;
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| 76 | case COMMAND_ANALOG_WRITE:
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| 77 | codename=messageIn.readByte();
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| 78 | value=messageIn.readInt();
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| 79 | _analogWrite(codename,value);
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| 80 | break;
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| 81 | case COMMAND_DIGITAL_WRITE:
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| 82 | codename=messageIn.readByte();
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| 83 | value=messageIn.readByte();
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| 84 | _digitalWrite(codename,value);
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| 85 | break;
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| 86 | case COMMAND_ANALOG_READ:
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| 87 | codename=messageIn.readByte();
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| 88 | _analogRead(codename);
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| 89 | break;
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| 90 | case COMMAND_DIGITAL_READ:
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| 91 | codename=messageIn.readByte();
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| 92 | _digitalRead(codename);
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| 93 | break;
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| 94 | case COMMAND_READ_IR:
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| 95 | _readIR();
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| 96 | break;
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| 97 | case COMMAND_READ_TRIM:
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| 98 | _readTrim();
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| 99 | break;
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| 100 | case COMMAND_PAUSE_MODE:
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| 101 | pauseMode(messageIn.readByte());//onOff state
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| 102 | break;
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| 103 | case COMMAND_LINE_FOLLOW_CONFIG:
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| 104 | LineFollow::config(
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| 105 | messageIn.readByte(), //KP
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| 106 | messageIn.readByte(), //KD
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| 107 | messageIn.readByte(), //robotSpeed
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| 108 | messageIn.readByte() //IntegrationTime
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| 109 | );
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| 110 | break;
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| 111 | }
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| 112 | }
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| 113 | //delay(5);
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| 114 | }
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| 115 | uint8_t RobotMotorBoard::parseCodename(uint8_t codename){
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| 116 | switch(codename){
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| 117 | case B_TK1:
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| 118 | return TK1;
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| 119 | case B_TK2:
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| 120 | return TK2;
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| 121 | case B_TK3:
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| 122 | return TK3;
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| 123 | case B_TK4:
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| 124 | return TK4;
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| 125 | }
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| 126 | }
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| 127 | uint8_t RobotMotorBoard::codenameToAPin(uint8_t codename){
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| 128 | switch(codename){
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| 129 | case B_TK1:
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| 130 | return A0;
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| 131 | case B_TK2:
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| 132 | return A1;
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| 133 | case B_TK3:
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| 134 | return A6;
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| 135 | case B_TK4:
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| 136 | return A11;
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| 137 | }
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| 138 | }
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| 139 |
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| 140 | void RobotMotorBoard::setMode(uint8_t mode){
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| 141 | if(mode==MODE_LINE_FOLLOW){
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| 142 | LineFollow::calibIRs();
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| 143 | }
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| 144 | /*if(mode==SET_MOTOR_ADJUSTMENT){
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| 145 | save_motor_adjustment_to_EEPROM();
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| 146 | }
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| 147 | */
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| 148 | /*if(mode==MODE_IR_CONTROL){
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| 149 | beginIRReceiver();
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| 150 | }*/
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| 151 | this->mode=mode;
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| 152 | //stopCurrentActions();//If line following, this should stop the motors
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| 153 | }
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| 154 |
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| 155 | void RobotMotorBoard::stopCurrentActions(){
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| 156 | motorsStop();
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| 157 | //motorsWrite(0,0);
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| 158 | }
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| 159 |
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| 160 | void RobotMotorBoard::motorsWrite(int speedL, int speedR){
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| 161 | /*Serial.print(speedL);
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| 162 | Serial.print(" ");
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| 163 | Serial.println(speedR);*/
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| 164 | //motor adjustment, using percentage
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| 165 | _refreshMotorAdjustment();
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| 166 |
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| 167 | if(motorAdjustment<0){
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| 168 | speedR*=(1+motorAdjustment);
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| 169 | }else{
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| 170 | speedL*=(1-motorAdjustment);
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| 171 | }
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| 172 |
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| 173 | if(speedR>0){
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| 174 | analogWrite(IN_A1,speedR);
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| 175 | analogWrite(IN_A2,0);
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| 176 | }else{
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| 177 | analogWrite(IN_A1,0);
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| 178 | analogWrite(IN_A2,-speedR);
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| 179 | }
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| 180 |
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| 181 | if(speedL>0){
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| 182 | analogWrite(IN_B1,speedL);
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| 183 | analogWrite(IN_B2,0);
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| 184 | }else{
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| 185 | analogWrite(IN_B1,0);
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| 186 | analogWrite(IN_B2,-speedL);
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| 187 | }
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| 188 | }
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| 189 | void RobotMotorBoard::motorsWritePct(int speedLpct, int speedRpct){
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| 190 | //speedLpct, speedRpct ranges from -100 to 100
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| 191 | motorsWrite(speedLpct*2.55,speedRpct*2.55);
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| 192 | }
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| 193 | void RobotMotorBoard::motorsStop(){
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| 194 | analogWrite(IN_A1,255);
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| 195 | analogWrite(IN_A2,255);
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| 196 |
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| 197 | analogWrite(IN_B1,255);
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| 198 | analogWrite(IN_B2,255);
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| 199 | }
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| 200 |
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| 201 |
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| 202 | /*
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| 203 | *
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| 204 | *
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| 205 | * Input and Output ports
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| 206 | *
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| 207 | *
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| 208 | */
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| 209 | void RobotMotorBoard::_digitalWrite(uint8_t codename,bool value){
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| 210 | uint8_t pin=parseCodename(codename);
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| 211 | digitalWrite(pin,value);
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| 212 | }
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| 213 | void RobotMotorBoard::_analogWrite(uint8_t codename,int value){
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| 214 | //There's no PWM available on motor board
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| 215 | }
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| 216 | void RobotMotorBoard::_digitalRead(uint8_t codename){
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| 217 | uint8_t pin=parseCodename(codename);
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| 218 | bool value=digitalRead(pin);
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| 219 | messageOut.writeByte(COMMAND_DIGITAL_READ_RE);
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| 220 | messageOut.writeByte(codename);
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| 221 | messageOut.writeByte(value);
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| 222 | messageOut.sendData();
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| 223 | }
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| 224 | void RobotMotorBoard::_analogRead(uint8_t codename){
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| 225 | uint8_t pin=codenameToAPin(codename);
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| 226 | int value=analogRead(pin);
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| 227 | messageOut.writeByte(COMMAND_ANALOG_READ_RE);
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| 228 | messageOut.writeByte(codename);
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| 229 | messageOut.writeInt(value);
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| 230 | messageOut.sendData();
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| 231 | }
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| 232 | int RobotMotorBoard::IRread(uint8_t num){
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| 233 | return _IRread(num-1); //To make consistant with the pins labeled on the board
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| 234 | }
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| 235 |
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| 236 | int RobotMotorBoard::_IRread(uint8_t num){
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| 237 | IRs.selectPin(num);
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| 238 | return IRs.getAnalogValue();
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| 239 | }
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| 240 |
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| 241 |
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| 242 | void RobotMotorBoard::_readIR(){
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| 243 | int value;
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| 244 | messageOut.writeByte(COMMAND_READ_IR_RE);
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| 245 | for(int i=0;i<5;i++){
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| 246 | value=_IRread(i);
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| 247 | messageOut.writeInt(value);
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| 248 | }
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| 249 | messageOut.sendData();
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| 250 | }
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| 251 |
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| 252 | void RobotMotorBoard::_readTrim(){
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| 253 | int value=analogRead(TRIM);
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| 254 | messageOut.writeByte(COMMAND_READ_TRIM_RE);
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| 255 | messageOut.writeInt(value);
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| 256 | messageOut.sendData();
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| 257 | }
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| 258 |
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| 259 | void RobotMotorBoard::_refreshMotorAdjustment(){
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| 260 | motorAdjustment=map(analogRead(TRIM),0,1023,-30,30)/100.0;
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| 261 | }
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| 262 |
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| 263 | void RobotMotorBoard::reportActionDone(){
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| 264 | setMode(MODE_SIMPLE);
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| 265 | messageOut.writeByte(COMMAND_ACTION_DONE);
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| 266 | messageOut.sendData();
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| 267 | }
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| 268 |
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| 269 | RobotMotorBoard RobotMotor=RobotMotorBoard();
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