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-rw-r--r--CODE/CODE.ino195
-rw-r--r--CODE/debug/color/color.ino79
2 files changed, 175 insertions, 99 deletions
diff --git a/CODE/CODE.ino b/CODE/CODE.ino
index 8cd2ef7..d923b2c 100644
--- a/CODE/CODE.ino
+++ b/CODE/CODE.ino
@@ -39,6 +39,25 @@ int m3encoB = 23;
int softpwr = 2;
+int pr1 = 13;
+int pr2 = 41;
+int pr3 = 40;
+int pr4 = 39;
+int pr5 = 38;
+int pr6 = 37;
+int pr7 = 36;
+int pr8 = 35;
+
+int dpr1 = "LOW";
+int dpr2 = "LOW";
+int dpr3 = "LOW";
+int dpr4 = "LOW";
+int dpr5 = "LOW";
+int dpr6 = "LOW";
+int dpr7 = "LOW";
+int dpr8 = "LOW";
+
+
void setup() {
pinMode(m1enA, OUTPUT);
pinMode(m1enB, OUTPUT);
@@ -57,6 +76,15 @@ void setup() {
pinMode(softpwr, INPUT_PULLUP);
+ pinMode(pr1, INPUT);
+ pinMode(pr2, INPUT);
+ pinMode(pr3, INPUT);
+ pinMode(pr4, INPUT);
+ pinMode(pr5, INPUT);
+ pinMode(pr6, INPUT);
+ pinMode(pr7, INPUT);
+ pinMode(pr8, INPUT);
+
Serial.begin(9600);
Serial1.begin(9600);
Serial2.begin(9600);
@@ -150,80 +178,107 @@ void drive(int speed, int direction){
void loop() {
int sprst = digitalRead(softpwr); //softpower status
if(sprst == LOW){
- if (Serial1.available() > 0) {
- incomingbyte1 = Serial1.read();
- //Serial.print(char(incomingbyte1));
- if (incomingbyte1 == 's'){
- iswriting1 = true;
- tlocdat1 = "";
- }else if(incomingbyte1 == 'e'){
- iswriting1 = false;
- locdat1 = tlocdat1;
- }else if(iswriting1 == true){
+ dpr1 = digitalRead(pr1);
+ dpr2 = digitalRead(pr2);
+ dpr3 = digitalRead(pr3);
+ dpr4 = digitalRead(pr4);
+ dpr5 = digitalRead(pr5);
+ dpr6 = digitalRead(pr6);
+ dpr7 = digitalRead(pr7);
+ dpr8 = digitalRead(pr8);
+
+ if(dpr1 == HIGH){
+ //go back to ?deg
+ }else if (dpr2 == HIGH){
+ //go back to ?deg
+ }else if (dpr3 == HIGH){
+ //go back to ?deg
+ }else if (dpr4 == HIGH){
+ //go back to ?deg
+ }else if (dpr5 == HIGH){
+ //go back to ?deg
+ }else if (dpr6 == HIGH){
+ //go back to ?deg
+ }else if (dpr7 == HIGH){
+ //go back to ?deg
+ }else if (dpr8 == HIGH){
+ //go back to ?deg
+ }else{
+ if (Serial1.available() > 0) {
+ incomingbyte1 = Serial1.read();
//Serial.print(char(incomingbyte1));
- tlocdat1 += (char)incomingbyte1;
+ if (incomingbyte1 == 's'){
+ iswriting1 = true;
+ tlocdat1 = "";
+ }else if(incomingbyte1 == 'e'){
+ iswriting1 = false;
+ locdat1 = tlocdat1;
+ }else if(iswriting1 == true){
+ //Serial.print(char(incomingbyte1));
+ tlocdat1 += (char)incomingbyte1;
+ }
}
- }
- if (Serial2.available() > 0) {
- incomingbyte2 = Serial2.read();
- //Serial.print(char(incomingbyte2));
- if (incomingbyte2 == 's'){
- iswriting2 = true;
- tlocdat2 = "";
- }else if(incomingbyte1 == 'e'){
- iswriting2 = false;
- locdat2 = tlocdat1;
- }else if(iswriting2 == true){
- //Serial.print(char(incomingbyte1));
- tlocdat2 += (char)incomingbyte1;
+ if (Serial2.available() > 0) {
+ incomingbyte2 = Serial2.read();
+ //Serial.print(char(incomingbyte2));
+ if (incomingbyte2 == 's'){
+ iswriting2 = true;
+ tlocdat2 = "";
+ }else if(incomingbyte1 == 'e'){
+ iswriting2 = false;
+ locdat2 = tlocdat1;
+ }else if(iswriting2 == true){
+ //Serial.print(char(incomingbyte1));
+ tlocdat2 += (char)incomingbyte1;
+ }
}
+ //Serial.println(locdat);
+ sscanf(locdat1.c_str(), "%d, %d", &nir1, &pir1);
+ sscanf(locdat2.c_str(), "%d, %d", &nir2, &pir2);
+
+
+ if(pir1 > pir2){
+ if(nir1 = 1){ //not good looking code because posbile wrong wireing
+ degwhere = 0;
+ }else if(nir1 = 2){
+ degwhere = 22.5;
+ }else if(nir1 = 3){
+ degwhere = 45;
+ }else if(nir1 = 4){
+ degwhere = 67.5;
+ }else if(nir1 = 5){
+ degwhere = 90;
+ }else if(nir1 = 6){
+ degwhere = 112.5;
+ }else if(nir1 = 7){
+ degwhere = 135;
+ }else if(nir1 = 8){
+ degwhere = 157.5;
+ }
+ }else{
+ if(nir2 = 1){
+ degwhere = 180;
+ }else if(nir2 = 2){
+ degwhere = 202.5;
+ }else if(nir2 = 3){
+ degwhere = 225;
+ }else if(nir2 = 4){
+ degwhere = 247.5;
+ }else if(nir2 = 5){
+ degwhere = 270;
+ }else if(nir2 = 6){
+ degwhere = 292.5;
+ }else if(nir2 = 7){
+ degwhere = 315;
+ }else if(nir2 = 8){
+ degwhere = 337.5;
+ }
+ }
+ Serial.print(degwhere);
+ Serial.println(" degrees.");
+ drive(255, degwhere);
+ delay(1);
}
- //Serial.println(locdat);
- sscanf(locdat1.c_str(), "%d, %d", &nir1, &pir1);
- sscanf(locdat2.c_str(), "%d, %d", &nir2, &pir2);
-
-
- if(pir1 > pir2){
- if(nir1 = 1){ //not good looking code because posbile wrong wireing
- degwhere = 0;
- }else if(nir1 = 2){
- degwhere = 22.5;
- }else if(nir1 = 3){
- degwhere = 45;
- }else if(nir1 = 4){
- degwhere = 67.5;
- }else if(nir1 = 5){
- degwhere = 90;
- }else if(nir1 = 6){
- degwhere = 112.5;
- }else if(nir1 = 7){
- degwhere = 135;
- }else if(nir1 = 8){
- degwhere = 157.5;
- }
- }else{
- if(nir2 = 1){
- degwhere = 180;
- }else if(nir2 = 2){
- degwhere = 202.5;
- }else if(nir2 = 3){
- degwhere = 225;
- }else if(nir2 = 4){
- degwhere = 247.5;
- }else if(nir2 = 5){
- degwhere = 270;
- }else if(nir2 = 6){
- degwhere = 292.5;
- }else if(nir2 = 7){
- degwhere = 315;
- }else if(nir2 = 8){
- degwhere = 337.5;
- }
- }
- Serial.print(degwhere);
- Serial.println(" degrees.");
- drive(255, degwhere);
- delay(1);
}else{
Serial.println("softPWR is off, waiting")
delay(100);
diff --git a/CODE/debug/color/color.ino b/CODE/debug/color/color.ino
index 9f8b472..3397f72 100644
--- a/CODE/debug/color/color.ino
+++ b/CODE/debug/color/color.ino
@@ -1,37 +1,58 @@
-/*
- Blink
+int pr1 = 13;
+int pr2 = 41;
+int pr3 = 40;
+int pr4 = 39;
+int pr5 = 38;
+int pr6 = 37;
+int pr7 = 36;
+int pr8 = 35;
- Turns an LED on for one second, then off for one second, repeatedly.
+int dpr1 = "LOW";
+int dpr2 = "LOW";
+int dpr3 = "LOW";
+int dpr4 = "LOW";
+int dpr5 = "LOW";
+int dpr6 = "LOW";
+int dpr7 = "LOW";
+int dpr8 = "LOW";
- Most Arduinos have an on-board LED you can control. On the UNO, MEGA and ZERO
- it is attached to digital pin 13, on MKR1000 on pin 6. LED_BUILTIN is set to
- the correct LED pin independent of which board is used.
- If you want to know what pin the on-board LED is connected to on your Arduino
- model, check the Technical Specs of your board at:
- https://www.arduino.cc/en/Main/Products
- modified 8 May 2014
- by Scott Fitzgerald
- modified 2 Sep 2016
- by Arturo Guadalupi
- modified 8 Sep 2016
- by Colby Newman
-
- This example code is in the public domain.
-
- https://www.arduino.cc/en/Tutorial/BuiltInExamples/Blink
-*/
-
-// the setup function runs once when you press reset or power the board
void setup() {
- // initialize digital pin LED_BUILTIN as an output.
- pinMode(LED_BUILTIN, OUTPUT);
+ pinMode(pr1, INPUT);
+ pinMode(pr2, INPUT);
+ pinMode(pr3, INPUT);
+ pinMode(pr4, INPUT);
+ pinMode(pr5, INPUT);
+ pinMode(pr6, INPUT);
+ pinMode(pr7, INPUT);
+ pinMode(pr8, INPUT);
}
-// the loop function runs over and over again forever
void loop() {
- digitalWrite(LED_BUILTIN, HIGH); // turn the LED on (HIGH is the voltage level)
- delay(1000); // wait for a second
- digitalWrite(LED_BUILTIN, LOW); // turn the LED off by making the voltage LOW
- delay(1000); // wait for a second
+ dpr1 = digitalRead(pr1);
+ dpr2 = digitalRead(pr2);
+ dpr3 = digitalRead(pr3);
+ dpr4 = digitalRead(pr4);
+ dpr5 = digitalRead(pr5);
+ dpr6 = digitalRead(pr6);
+ dpr7 = digitalRead(pr7);
+ dpr8 = digitalRead(pr8);
+
+ if(dpr1 == HIGH){
+ //go back to ?deg
+ }else if (dpr2 == HIGH){
+ //go back to ?deg
+ }else if (dpr3 == HIGH){
+ //go back to ?deg
+ }else if (dpr4 == HIGH){
+ //go back to ?deg
+ }else if (dpr5 == HIGH){
+ //go back to ?deg
+ }else if (dpr6 == HIGH){
+ //go back to ?deg
+ }else if (dpr7 == HIGH){
+ //go back to ?deg
+ }else if (dpr8 == HIGH){
+ //go back to ?deg
+ }
}
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