Diff for "fire/m0wb0t"

⇤ ← Revision 19 as of 2013-08-13 13:58:23 →

Size: 5074

Editor: fire

Comment:

← Revision 20 as of 2013-11-14 19:45:29 → ⇥

Size: 332

Editor: fire

Comment:

Deletions are marked like this.

Additions are marked like this.

[[attachment:m0wb0t_2013.ino]]

{{{#!highlight cpp
#define USBSERIAL 9600
#define BTGPSRATE 38400

#define SPDA 5 //Speed Control
#define DIR1A 9 //Direction
#define DIR2A 8 //Direction
#define SPDB 3 //Speed Control
#define DIR1B 12 //Direction
#define DIR2B 11 //Direction
#define STANDBY 10 //Standby Pin
#define STATUS_LED 13 //Led Pin

#define HAXXXOR 6 //spinning wheel of death ^^ macfags
#define HAX0RSPEEDMIN 0
#define HAX0RSPEEDMAX 90

#define MOTA 0
#define MOTB 3

#define FORWARD 1
#define BACKWARD 2
#define STOP 3

#define CMD_DRIVE 'c'
#define CMD_STOP 's'

#include <Servo.h>

char MOTs[] = {SPDA, DIR1A, DIR2A, SPDB, DIR1B, DIR2B};
char x,y,z;
char status = CMD_STOP;
Servo myservo; // create servo object to control a servo
int hax0rspeed=0;
int oldmillis;

char readBT() { while(!Serial1.available()) delay(20); return (char)Serial1.read(); }

void sendBT(char command[]) {
    Serial1.println();
    delay(250);
    Serial1.print(command);
    delay(250);
    Serial1.println();
    Serial1.flush();
    delay(250);
}

void setupBT(int setupdelay) {
    sendBT("+STWMOD=0"); // client mode
    sendBT("+STNA=m0wb0t"); // device name
    sendBT("+STAUTO=0"); // auto connect forbidden
    sendBT("+STOAUT=1"); // permit paired device to connect me
    sendBT("+STPIN=1337"); // bluetooth pin
    delay(setupdelay); // This delay is required.
    sendBT("+INQ=1"); // enable inqure the device
    delay(setupdelay); // This delay is required.
}

void stopMotor(char mot) { setMotor(mot, STOP, 0); }

void setMotor(char mot, char dir, int spd) {
    analogWrite (MOTs[mot + 0], spd);
    digitalWrite(MOTs[mot + 1], dir & 0x01);
    digitalWrite(MOTs[mot + 2], dir & 0x02);
}

void fullStop() {
    digitalWrite(STANDBY, LOW);
    digitalWrite(STATUS_LED, LOW); // indicate status
    stopMotor(MOTA);
    stopMotor(MOTB);
    status = CMD_STOP;
}

void servoup() {
    int pos = 0;
    for(pos = 0; pos < 180; pos += 1) // goes from 0 degrees to 180 degrees
  { // in steps of 1 degree
    myservo.write(pos); // tell servo to go to position in variable 'pos'
    delay(20);
  }
}
void servodown() {
  int pos = 180;
  for(pos = 180; pos>=1; pos-=1) // goes from 180 degrees to 0 degrees
  {
    myservo.write(pos); // tell servo to go to position in variable 'pos'
    delay(20);
  }
}


void initservo() {
  servoup();
  delay(50);
  servodown();
}

void setup() {
    pinMode( SPDA , OUTPUT );
    pinMode( SPDB , OUTPUT );
    pinMode( STANDBY , OUTPUT );
    pinMode( STATUS_LED , OUTPUT );
    pinMode( DIR1A , OUTPUT );
    pinMode( DIR2A , OUTPUT );
    pinMode( DIR1B , OUTPUT );
    pinMode( DIR2B , OUTPUT );

    myservo.attach(6); // attaches the servo on pin 6 to the servo object
    initservo();

    fullStop(); //init's all previous outputs

    Serial.begin(USBSERIAL); // init USB Serial (console)
    Serial1.begin(BTGPSRATE); // init pin0/1 Serial (bluetooth)
    delay(1234);
    setupBT(3210);
    while(readBT() != CMD_STOP); // safety frist? Â¯\(Â°_o)/Â¯ I DUNNO LOL
}

int runDelay = 0;
void loop() {
    Serial1.print('r'); // request data from droid
    char bt = readBT();
    if(bt == CMD_STOP)
        {
        fullStop();
        }
    else if(bt == CMD_DRIVE) {
        if(status == CMD_STOP) {
            status = CMD_DRIVE;
            digitalWrite(STANDBY, HIGH);
            digitalWrite(STATUS_LED, HIGH); // indicate status
        }
        x = readBT(); y = readBT(); z = readBT();
        int l = z + y, r = z - y;
        int L = (l < 0 ? -l : l)<<1;
        int R = (r < 0 ? -r : r)<<1;
        L = L > 255 ? 255 : L < 0 ? 0 : L;
        R = R > 255 ? 255 : R < 0 ? 0 : R;

        setMotor(MOTA, -l > 0 ? FORWARD : BACKWARD, L);
        setMotor(MOTB, -r > 0 ? FORWARD : BACKWARD, R);
    }
    if (millis()-oldmillis >20) {
      oldmillis=millis();
      if (status==CMD_DRIVE && hax0rspeed<HAX0RSPEEDMAX){
        hax0rspeed+=2;
      }
      if (status==CMD_STOP && hax0rspeed>HAX0RSPEEDMIN){
        hax0rspeed--;
      }
      myservo.write(hax0rspeed);

    }
}

}}}

source:
https://git.devlol.org/fire/m0wb0t

Diff for "fire/m0wb0t"

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m0wbot

-  ⇤ ← Revision 19 as of 2013-08-13 13:58:23 → 
  Size: 5074
  Editor: fire
  Comment:
+   ← Revision 20 as of 2013-11-14 19:45:29 → ⇥
  Size: 332
  Editor: fire
  Comment:
-Deletions are marked like this.
+Additions are marked like this.
 Line 11:
-[[attachment:m0wb0t_2013.ino]]

{{{#!highlight cpp
#define USBSERIAL 9600
#define BTGPSRATE 38400

#define SPDA             5          //Speed Control
#define DIR1A            9          //Direction
#define DIR2A            8          //Direction
#define SPDB             3          //Speed Control
#define DIR1B           12          //Direction
#define DIR2B           11          //Direction
#define STANDBY         10          //Standby Pin
#define STATUS_LED      13          //Led Pin

#define HAXXXOR          6          //spinning wheel of death ^^ macfags
#define HAX0RSPEEDMIN    0          
#define HAX0RSPEEDMAX    90

#define MOTA             0
#define MOTB             3

#define FORWARD          1
#define BACKWARD         2
#define STOP             3

#define CMD_DRIVE       'c'
#define CMD_STOP        's'

#include <Servo.h> 


char MOTs[] = {SPDA, DIR1A, DIR2A, SPDB, DIR1B, DIR2B};
char x,y,z;
char status = CMD_STOP;
Servo myservo;  // create servo object to control a servo 
int hax0rspeed=0;
int oldmillis;

char readBT() { while(!Serial1.available()) delay(20); return (char)Serial1.read(); }

void sendBT(char command[]) {
    Serial1.println();
    delay(250);
    Serial1.print(command);
    delay(250);
    Serial1.println();
    Serial1.flush();
    delay(250);
}

void setupBT(int setupdelay) {
    sendBT("+STWMOD=0");            // client mode
    sendBT("+STNA=m0wb0t");         // device name
    sendBT("+STAUTO=0");            // auto connect forbidden
    sendBT("+STOAUT=1");            // permit paired device to connect me
    sendBT("+STPIN=1337");          // bluetooth pin 
    delay(setupdelay);              // This delay is required.
    sendBT("+INQ=1");               // enable inqure the device 
    delay(setupdelay);              // This delay is required.
}

void stopMotor(char mot) { setMotor(mot, STOP, 0); }

void setMotor(char mot, char dir, int spd) {
    analogWrite (MOTs[mot + 0], spd);
    digitalWrite(MOTs[mot + 1], dir & 0x01);
    digitalWrite(MOTs[mot + 2], dir & 0x02);
}

void fullStop() {
    digitalWrite(STANDBY,    LOW);
    digitalWrite(STATUS_LED, LOW); // indicate status
    stopMotor(MOTA);
    stopMotor(MOTB);
    status = CMD_STOP;
}

void servoup() {
    int pos = 0;   
    for(pos = 0; pos < 180; pos += 1)  // goes from 0 degrees to 180 degrees 
  {                                  // in steps of 1 degree 
    myservo.write(pos);              // tell servo to go to position in variable 'pos' 
    delay(20);
  } 
}
void servodown() {
  int pos = 180;
  for(pos = 180; pos>=1; pos-=1)     // goes from 180 degrees to 0 degrees 
  {                                
    myservo.write(pos);              // tell servo to go to position in variable 'pos' 
    delay(20);
  }
}


  
void initservo() {
  servoup();
  delay(50);
  servodown(); 
}

void setup() {
    pinMode( SPDA       , OUTPUT );
    pinMode( SPDB       , OUTPUT );
    pinMode( STANDBY    , OUTPUT );
    pinMode( STATUS_LED , OUTPUT );
    pinMode( DIR1A      , OUTPUT );
    pinMode( DIR2A      , OUTPUT );
    pinMode( DIR1B      , OUTPUT );
    pinMode( DIR2B      , OUTPUT );
                         
    myservo.attach(6);  // attaches the servo on pin 6 to the servo object 
    initservo();
    
    fullStop(); //init's all previous outputs
    
    Serial.begin(USBSERIAL);        // init USB Serial (console)
    Serial1.begin(BTGPSRATE);       // init pin0/1 Serial (bluetooth)
    delay(1234); 
    setupBT(3210);
    while(readBT() != CMD_STOP);    // safety frist? Â¯\(Â°_o)/Â¯ I DUNNO LOL
}

int runDelay = 0;
void loop() {
    Serial1.print('r');             // request data from droid
    char bt = readBT();
    if(bt == CMD_STOP)
        {
        fullStop();
        }
    else if(bt == CMD_DRIVE) {
        if(status == CMD_STOP) {
            status = CMD_DRIVE;
            digitalWrite(STANDBY,    HIGH);
            digitalWrite(STATUS_LED, HIGH); // indicate status
        }
        x = readBT(); y = readBT(); z = readBT();
        int l = z + y, r = z - y;
        int L = (l < 0 ? -l : l)<<1;
        int R = (r < 0 ? -r : r)<<1;
        L = L > 255 ? 255 : L < 0 ? 0 : L;
        R = R > 255 ? 255 : R < 0 ? 0 : R;
        
        setMotor(MOTA, -l > 0 ? FORWARD : BACKWARD, L);
        setMotor(MOTB, -r > 0 ? FORWARD : BACKWARD, R);
    }
    if (millis()-oldmillis >20) {
      oldmillis=millis();
      if (status==CMD_DRIVE && hax0rspeed<HAX0RSPEEDMAX){
        hax0rspeed+=2;
      }    
      if (status==CMD_STOP && hax0rspeed>HAX0RSPEEDMIN){
        hax0rspeed--;
      }    
      myservo.write(hax0rspeed);

    }
}

}}}
+source:
https://git.devlol.org/fire/m0wb0t