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-rw-r--r--CODE/CODE.ino38
-rw-r--r--CODE/debug/IR/IR_sens/IR_sens.ino (renamed from CODE/debug/IR/IR_sens/IR_sens1.ino)4
-rw-r--r--CODE/debug/IR/communication/direct_rx/direct_rx.ino15
-rw-r--r--CODE/debug/IR/communication/rx_teensy/rx_teensy.ino6
-rw-r--r--CODE/debug/IR/communication/tx_seeed/tx_seeed.ino2
-rw-r--r--CODE/debug/IR/teensydeco/teensydeco.ino6
-rw-r--r--CODE/debug/color/Blink.txt1
7 files changed, 46 insertions, 26 deletions
diff --git a/CODE/CODE.ino b/CODE/CODE.ino
index 6b07d67..0d225a4 100644
--- a/CODE/CODE.ino
+++ b/CODE/CODE.ino
@@ -94,7 +94,7 @@ void setup() {
pinMode(pr8, INPUT);
Serial.begin(9600);
- Serial1.begin(9600);
+ Serial3.begin(9600);
Serial2.begin(9600);
Timer3.initialize(800); // 800 microseconds / 1.25kHz
@@ -152,24 +152,24 @@ void mcpsoftpwm1(int value1) {
if (value1 < 0) value1 = 0;
if (value1 > 100) value1 = 100;
- Serial.print("softPWM pin: 3, value: ");
- Serial.println(value1);
+ //Serial.print("softPWM pin: 3, value: ");
+ //Serial.println(value1);
PWMval1 = value1;
}
void mcpsoftpwm2(int value2) {
if (value2 < 0) value2 = 0;
if (value2 > 100) value2 = 100;
- Serial.print("softPWM pin: 3, value: ");
- Serial.println(value2);
+ //Serial.print("softPWM pin: 3, value: ");
+ //Serial.println(value2);
PWMval2 = value2;
}
void mcpsoftpwm3(int value3) {
if (value3 < 0) value3 = 0;
if (value3 > 100) value3 = 100;
- Serial.print("softPWM pin: 3, value: ");
- Serial.println(value3);
+ //Serial.print("softPWM pin: 3, value: ");
+ //Serial.println(value3);
PWMval3 = value3;
}
@@ -190,8 +190,8 @@ void drive(int speed, int direction){
digitalWrite(m1enB, LOW);
digitalWrite(m2enB, LOW);
digitalWrite(m3enB, LOW);
- Serial.println("debug2");
- Serial.println(direction);
+ //Serial.println("debug2");
+ //Serial.println(direction);
if(direction>330 || direction<=30){
//0 deg
digitalWrite(m1pwm1, LOW);
@@ -202,10 +202,10 @@ void drive(int speed, int direction){
digitalWrite(m3pwm1, LOW);
digitalWrite(m3pwm2, HIGH);
- Serial.println("0 deg");
+ //Serial.println("0 deg");
}else if (direction>30 && direction <= 90){
//60 deg
- Serial.println("60deg");
+ //Serial.println("60deg");
digitalWrite(m1pwm1, LOW);
digitalWrite(m1pwm2, LOW);
@@ -216,7 +216,7 @@ void drive(int speed, int direction){
digitalWrite(m3pwm2, HIGH);
}else if (direction>90 && direction <= 150){
//120 deg
- Serial.println("120 deg");
+ //Serial.println("120 deg");
digitalWrite(m1pwm1, HIGH);
digitalWrite(m1pwm2, LOW);
digitalWrite(m2pwm1, HIGH);
@@ -225,7 +225,7 @@ void drive(int speed, int direction){
digitalWrite(m3pwm2, LOW);
}else if (direction > 150 && direction <= 210) {
//180 degrees
- Serial.println("on 180");
+ //Serial.println("on 180");
digitalWrite(m1pwm1, HIGH);
digitalWrite(m1pwm2, LOW);
@@ -250,7 +250,7 @@ void drive(int speed, int direction){
digitalWrite(m1pwm2, HIGH);
digitalWrite(m2pwm1, LOW);
digitalWrite(m2pwm2, HIGH);
- Serial.println("300deg");
+ //Serial.println("drive 300deg");
digitalWrite(m3pwm1, LOW);
digitalWrite(m3pwm2, LOW);
}else{
@@ -287,8 +287,8 @@ void loop() {
}else if (dpr8 == HIGH){
//go back to ?deg
}else{
- if (Serial1.available() > 0) {
- incomingbyte1 = Serial1.read();
+ if (Serial3.available() > 0) {
+ incomingbyte1 = Serial3.read();
//Serial.print(char(incomingbyte1));
if (incomingbyte1 == 's'){
iswriting1 = true;
@@ -318,6 +318,10 @@ void loop() {
//Serial.println(locdat);
sscanf(locdat1.c_str(), "%d, %d", &nir1, &pir1);
sscanf(locdat2.c_str(), "%d, %d", &nir2, &pir2);
+
+ Serial.print("locdat: ");
+ Serial.print(String(locdat1));
+ Serial.println(String(locdat2));
if(pir1 > pir2){
@@ -357,6 +361,8 @@ void loop() {
degwhere = 337.5;
}
}
+
+ Serial.print("Ball is at ");
Serial.print(degwhere);
Serial.println(" degrees.");
drive(75, degwhere);
diff --git a/CODE/debug/IR/IR_sens/IR_sens1.ino b/CODE/debug/IR/IR_sens/IR_sens.ino
index df4a5fc..85089d4 100644
--- a/CODE/debug/IR/IR_sens/IR_sens1.ino
+++ b/CODE/debug/IR/IR_sens/IR_sens.ino
@@ -94,7 +94,7 @@ void loop() {
Serial.print(", ir 7 changes: ");
Serial.print(IRcount7);
Serial.print(", ir 8 changes: ");
- Serial.print(IRcount8);
+ Serial.println(IRcount8);
Serial1.print("ir 1 changes: ");
Serial1.print(IRcount1);
@@ -113,7 +113,7 @@ void loop() {
Serial1.print(", ir 8 changes: ");
Serial1.print(IRcount8);
- volatile long IRcounts[] = {IRcount1, IRcount2, IRcount3, IRcount4, IRcount5, IRcount6, IRcount7, 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) {
diff --git a/CODE/debug/IR/communication/direct_rx/direct_rx.ino b/CODE/debug/IR/communication/direct_rx/direct_rx.ino
new file mode 100644
index 0000000..336b27b
--- /dev/null
+++ b/CODE/debug/IR/communication/direct_rx/direct_rx.ino
@@ -0,0 +1,15 @@
+int incomingbyte = 0;
+void setup() {
+ Serial.begin(9600);
+ Serial2.begin(9600); //19200
+ Serial3.begin(9600); //19200
+ Serial.print("Starting ....");
+}
+
+void loop() {
+ if (Serial3.available() > 0) {
+ incomingbyte = Serial3.read();
+ Serial.print(char(incomingbyte));
+ }
+
+}
diff --git a/CODE/debug/IR/communication/rx_teensy/rx_teensy.ino b/CODE/debug/IR/communication/rx_teensy/rx_teensy.ino
index 96e14eb..68a768b 100644
--- a/CODE/debug/IR/communication/rx_teensy/rx_teensy.ino
+++ b/CODE/debug/IR/communication/rx_teensy/rx_teensy.ino
@@ -6,12 +6,12 @@ int nir = "-99"; // which ir sensor it is
int pir = "-99"; // amount of pulses it had
void setup() {
Serial.begin(9600);
- Serial1.begin(9600); //19200
+ Serial3.begin(9600); //19200
}
void loop() {
- if (Serial1.available() > 0) {
- incomingbyte = Serial1.read();
+ if (Serial3.available() > 0) {
+ incomingbyte = Serial3.read();
//Serial.print(char(incomingbyte));
if (incomingbyte == 's'){
iswriting = true;
diff --git a/CODE/debug/IR/communication/tx_seeed/tx_seeed.ino b/CODE/debug/IR/communication/tx_seeed/tx_seeed.ino
index c77e618..dc2d2e9 100644
--- a/CODE/debug/IR/communication/tx_seeed/tx_seeed.ino
+++ b/CODE/debug/IR/communication/tx_seeed/tx_seeed.ino
@@ -10,7 +10,7 @@ void setup() {
}
void loop() {
- randNumber1 = random(999);
+ randNumber1 = random(1000);
randNumber2 = random(1, 8);
Serial1.print("s");
Serial1.print(randNumber2);
diff --git a/CODE/debug/IR/teensydeco/teensydeco.ino b/CODE/debug/IR/teensydeco/teensydeco.ino
index 2d06af9..f8fe2a5 100644
--- a/CODE/debug/IR/teensydeco/teensydeco.ino
+++ b/CODE/debug/IR/teensydeco/teensydeco.ino
@@ -16,13 +16,13 @@ float degwhere = -99.0; // where the ball is in degrees
void setup() {
Serial.begin(9600);
- Serial1.begin(9600);
+ Serial3.begin(9600);
Serial2.begin(9600);
}
void loop() {
- if (Serial1.available() > 0) {
- incomingbyte1 = Serial1.read();
+ if (Serial3.available() > 0) {
+ incomingbyte1 = Serial3.read();
//Serial.print(char(incomingbyte1));
if (incomingbyte1 == 's'){
iswriting1 = true;
diff --git a/CODE/debug/color/Blink.txt b/CODE/debug/color/Blink.txt
deleted file mode 100644
index 0626334..0000000
--- a/CODE/debug/color/Blink.txt
+++ /dev/null
@@ -1 +0,0 @@
-Turn an LED on and off. \ No newline at end of file
generated by cgit v1.2.3 (git 2.46.0) at 2026-09-30 04:17:05 +0000