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int incomingbyte1 = 0; //the byte that it is reciefing
bool iswriting1 = false; //true if writing else fals
String tlocdat1 = ""; //temporary location data
String locdat1 = ""; //location data
int nir1 = "-99"; // which ir sensor it is
int pir1 = "-99"; // amount of pulses it had
int incomingbyte2 = 0; //same but for seeed xiao N 2
bool iswriting2 = false;
String tlocdat2 = "";
String locdat2 = "";
int nir2 = "-99";
int pir2 = "-99";
float degwhere = -99.0; // where the ball is in degrees
int led = 13;
int m1enA = 6;
int m1enB = 5;
int m1pwm1 = 4;
int m1pwm2 = 3;
int m1encoA = 32;
int m1encoB = 31;
int m2enA = 12;
int m2enB = 11;
int m2pwm1 = 9;
int m2pwm2 = 10;
int m2encoA = 30;
int m2encoB = 29;
int m3enA = 27;
int m3enB = 26;
int m3pwm1 = 24;
int m3pwm2 = 25;
int m3encoA = 28;
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);
pinMode(m1pwm1, OUTPUT);
pinMode(m1pwm2, OUTPUT);
pinMode(m2enA, OUTPUT);
pinMode(m2enB, OUTPUT);
pinMode(m2pwm1, OUTPUT);
pinMode(m2pwm2, OUTPUT);
pinMode(m3enA, OUTPUT);
pinMode(m3enB, OUTPUT);
pinMode(m3pwm1, OUTPUT);
pinMode(m3pwm2, OUTPUT);
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);
}
void drive(int speed, int direction){
//
// Direction............|.Motor 1.|.Motor 2.|.Motor 3.
// 0deg(forward)........|....0....|....-....|....+....
// 60deg................|....+....|....-....|....0....
// 120deg...............|....+....|....0....|....-....
// 180 deg (backward)...|....0....|....+....|....-....
// 240 deg..............|....-....|....+....|....0....
// 300 deg..............|....-....|....0....|....+....
//
digitalWrite(m1enA, HIGH);
digitalWrite(m2enA, HIGH);
digitalWrite(m3enA, HIGH);
digitalWrite(m1enB, LOW);
digitalWrite(m2enB, LOW);
digitalWrite(m3enB, LOW);
Serial.println("debug2");
Serial.println(direction);
if(direction>330 || direction<=30){
//0 deg
digitalWrite(m1pwm1, LOW);
digitalWrite(m1pwm2, HIGH);
digitalWrite(m2pwm1, LOW);
digitalWrite(m2pwm2, LOW);
digitalWrite(m3pwm1, LOW);
digitalWrite(m3pwm2, HIGH);
Serial.println("0 deg");
}else if (direction>30 && direction <= 90){
//60 deg
Serial.println("60deg");
digitalWrite(m1pwm1, LOW);
digitalWrite(m1pwm2, LOW);
digitalWrite(m2pwm1, HIGH);
digitalWrite(m2pwm2, LOW);
digitalWrite(m3pwm1, LOW);
digitalWrite(m3pwm2, HIGH);
}else if (direction>90 && direction <= 150){
//120 deg
Serial.println("120 deg");
digitalWrite(m1pwm1, HIGH);
digitalWrite(m1pwm2, LOW);
digitalWrite(m2pwm1, HIGH);
digitalWrite(m2pwm2, LOW);
digitalWrite(m3pwm1, LOW);
digitalWrite(m3pwm2, LOW);
}else if (direction > 150 && direction <= 210) {
//180 degrees
Serial.println("on 180");
digitalWrite(m1pwm1, HIGH);
digitalWrite(m1pwm2, LOW);
digitalWrite(m2pwm1, LOW);
digitalWrite(m2pwm2, LOW);
digitalWrite(m3pwm1, HIGH);
digitalWrite(m3pwm2, LOW);
}else if (direction > 210 && direction <= 270) {
//240 degrees
digitalWrite(m1pwm1, LOW);
digitalWrite(m1pwm2, LOW);
digitalWrite(m2pwm1, LOW);
digitalWrite(m2pwm2, HIGH);
digitalWrite(m3pwm1, HIGH);
digitalWrite(m3pwm2, LOW);
}else if (direction > 270 && direction <= 330) {
//300 degrees
digitalWrite(m1pwm1, LOW);
digitalWrite(m1pwm2, HIGH);
digitalWrite(m2pwm1, LOW);
digitalWrite(m2pwm2, HIGH);
Serial.println("300deg");
digitalWrite(m3pwm1, LOW);
digitalWrite(m3pwm2, LOW);
}else{
Serial.println("how?");
}
}
void loop() {
int sprst = digitalRead(softpwr); //softpower status
if(sprst == LOW){
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));
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;
}
}
//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);
}
}
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