things

3 files changed, 215 insertions, 6 deletions

diff --git a/CODE/debug/IR/IR_sens1/IR_sens1.ino b/CODE/debug/IR/IR_sens1/IR_sens1.ino
new file mode 100644
index 0000000..df4a5fc
--- /dev/null
+++ b/CODE/debug/IR/IR_sens1/IR_sens1.ino
@@ -0,0 +1,149 @@
+int ir1 = 0;
+int ir2 = 1;
+int ir3 = 9;
+int ir4 = 2;
+int ir5 = 3;
+int ir6 = 4;
+int ir7 = 5;
+int ir8 = 8;
+
+int dir1 = 1;   // data IR1
+int dir2 = 1;   // data IR2
+int dir3 = 1;   // etc
+int dir4 = 1;   
+int dir5 = 1;    
+int dir6 = 1;   
+int dir7 = 1;   
+int dir8 = 1;
+
+volatile long IRcount1 = 0;
+volatile long IRcount2 = 0;
+volatile long IRcount3 = 0;
+volatile long IRcount4 = 0;
+volatile long IRcount5 = 0;
+volatile long IRcount6 = 0;
+volatile long IRcount7 = 0;
+volatile long IRcount8 = 0;
+
+void setup() {
+  pinMode(ir1, INPUT);  
+  pinMode(ir2, INPUT);  
+  pinMode(ir3, INPUT);  
+  pinMode(ir4, INPUT);  
+  pinMode(ir5, INPUT);  
+  pinMode(ir6, INPUT);  
+  pinMode(ir7, INPUT);  
+  pinMode(ir8, INPUT);
+
+  Serial.begin(9600);
+  Serial1.begin(9600);
+  Serial.println("start");
+  Serial1.println("start");
+
+  attachInterrupt(digitalPinToInterrupt(ir1), IRtrigger1, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir2), IRtrigger2, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir3), IRtrigger3, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir4), IRtrigger4, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir5), IRtrigger5, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir6), IRtrigger6, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir7), IRtrigger7, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir8), IRtrigger8, CHANGE);
+
+  Serial.println("Starting loop");
+  Serial1.println("Starting loop");
+}
+
+void IRtrigger1() {
+  IRcount1++;
+}
+void IRtrigger2() {
+  IRcount2++;
+}
+void IRtrigger3() {
+  IRcount3++;
+}
+void IRtrigger4() {
+  IRcount4++;
+}
+void IRtrigger5() {
+  IRcount5++;
+}
+void IRtrigger6() {
+  IRcount6++;
+}
+void IRtrigger7() {
+  IRcount7++;
+}
+void IRtrigger8() {
+  IRcount8++;
+}
+
+void loop() {
+  Serial.print("ir 1 changes: ");
+  Serial.print(IRcount1);
+  Serial.print(", ir 2 changes: ");
+  Serial.print(IRcount2);
+  Serial.print(", ir 3 changes: ");
+  Serial.print(IRcount3);
+  Serial.print(", ir 4 changes: ");
+  Serial.print(IRcount4);
+  Serial.print(", ir 5 changes: ");
+  Serial.print(IRcount5);
+  Serial.print(", ir 6 changes: ");
+  Serial.print(IRcount6);
+  Serial.print(", ir 7 changes: ");
+  Serial.print(IRcount7);
+  Serial.print(", ir 8 changes: ");
+  Serial.print(IRcount8);
+
+  Serial1.print("ir 1 changes: ");
+  Serial1.print(IRcount1);
+  Serial1.print(", ir 2 changes: ");
+  Serial1.print(IRcount2);
+  Serial1.print(", ir 3 changes: ");
+  Serial1.print(IRcount3);
+  Serial1.print(", ir 4 changes: ");
+  Serial1.print(IRcount4);
+  Serial1.print(", ir 5 changes: ");
+  Serial1.print(IRcount5);
+  Serial1.print(", ir 6 changes: ");
+  Serial1.print(IRcount6);
+  Serial1.print(", ir 7 changes: ");
+  Serial1.print(IRcount7);
+  Serial1.print(", ir 8 changes: ");
+  Serial1.print(IRcount8);
+
+    volatile long IRcounts[] = {IRcount1, IRcount2, IRcount3, IRcount4, IRcount5, IRcount6, IRcount7, IRcount8};
+  long maxCount = IRcounts[0];
+  int highessensor = 1;
+  for (int i = 0; i < 7; ++i) {
+    if (IRcounts[i] > maxCount) {
+      maxCount = IRcounts[i];
+      highessensor = i + 1;
+    }
+  }
+  Serial.print("Ball is at sensor: ");
+  Serial.print(highessensor);
+  Serial.print(", with value of ");
+  Serial.println(maxCount);
+
+  Serial1.print("s");
+  Serial1.print(highessensor);
+  Serial1.print(", ");
+  Serial1.println(maxCount);
+  Serial1.print("e");
+
+  IRcount1 = 0;
+  IRcount2 = 0;
+  IRcount3 = 0;
+  IRcount4 = 0;
+  IRcount5 = 0;
+  IRcount6 = 0;
+  IRcount7 = 0;
+  IRcount8 = 0;
+
+
+
+  delay(250);
+
+}
diff --git a/CODE/debug/IR/IR_sens2/IR_sens2.ino b/CODE/debug/IR/IR_sens2/IR_sens2.ino
new file mode 100644
index 0000000..5fb4e9f
--- /dev/null
+++ b/CODE/debug/IR/IR_sens2/IR_sens2.ino
@@ -0,0 +1,36 @@
+int ir9 = 0
+int ir10 = 1
+int ir11 = 9
+int ir12 = 2
+int ir13 = 3
+int ir14 = 4
+int ir15 = 5
+int ir16 = 8
+
+int dir1 = 1;   // data IR1
+int dir2 = 1;   // data IR2
+int dir3 = 1;   // etc
+int dir4 = 1;   
+int dir5 = 1;    
+int dir6 = 1;   
+int dir7 = 1;   
+int dir8 = 1;
+
+volatile long IRcount1 = 0;
+volatile long IRcount2 = 0;
+volatile long IRcount3 = 0;
+volatile long IRcount4 = 0;
+volatile long IRcount5 = 0;
+volatile long IRcount6 = 0;
+volatile long IRcount7 = 0;
+volatile long IRcount8 = 0;
+
+void setup() {
+  // put your setup code here, to run once:
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}
diff --git a/CODE/debug/IR/communication/rx_teensy/rx_teensy.ino b/CODE/debug/IR/communication/rx_teensy/rx_teensy.ino
index 7dca76d..8e1ecfa 100644
--- a/CODE/debug/IR/communication/rx_teensy/rx_teensy.ino
+++ b/CODE/debug/IR/communication/rx_teensy/rx_teensy.ino
@@ -1,17 +1,41 @@
-int incomingByte = 0; // for incoming serial data
+String tlocd = "";
+String locd = "";
+bool readloc = false;
+unsigned long datatime = 0;
 
 void setup() {
   Serial.begin(9600); // opens serial port, sets data rate to 9600 bps
-  Serial1.begin(9600);
+  Serial2.begin(9600);
 }
 
 void loop() {
   // send data only when you receive data:
-  if (Serial1.available() > 0) {
-    // read the incoming byte:
-    incomingByte = Serial1.read();
+  if (Serial2.available() > 0) {
+    datatime = millis(); 
+    byte byteRead = Serial2.read();
+
+    if(byteRead == 's'){
+      tlocd = ""; 
+      readloc = true;
+    }
+    else if(byteRead == 'e'){
+      readloc = false;
+      locd = tlocd;
+    }
+    else if(readloc == true){
+      tlocd += (char)byteRead;
+    }
+    else{
+    if(millis() - datatime > 5000){
+      Serial.println("Err no data recieved for 5 sec");  
+      locd = "999";
+    }
+    Serial.println(locd);
+  }
 
     // say what you got:
-    Serial.print(char(incomingByte));
+    Serial.print(char(byte byteRead));
   }
+  
+  delay(111);
 }