port ball reading code to 32u4
EmaMaker
parent
41061931fc
commit
2d573211a5
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@ -1,50 +1,51 @@
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/**
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Sensor Mapping
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Sensor Angle Pin Port
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S0 0 A3 C3
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S1 A2 C2
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S2 A1 C1
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S3 A0 C0
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S4 90 13 B5
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S5 12 B4
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S6 11 B3
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S7 10 B2
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S8 180 9 B1
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S9 8 B0
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S10 7 D7
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S11 6 D6
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S12 270 5 D5
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S13 4 D4
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S14 3 D3
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S15 2 D2
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S1 0 26 PD6
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S2 25 PD4
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S3 19 PD1
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S4 18 PD0
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S5 90 1 PE6
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S6 40 PF1
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S7 39 PF4
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S8 38 PF5
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S9 180 37 PF6
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S10 36 PF7
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S11 32 PC7
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S12 31 PC6
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S13 270 30 PB6
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S14 29 PB5
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S15 28 PB4
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S16 27 PD7
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loop cycle duration: 3.2 millis
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**/
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#define S9 ((PINB & 1))
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#define S8 ((PINB & 2) >> 1)
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#define S7 ((PINB & 4) >> 2)
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#define S6 ((PINB & 8) >> 3)
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#define S5 ((PINB & 16) >> 4)
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#define S4 ((PINB & 32) >> 5)
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#define S5 ((PORTE & 64 ) >> 6)
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#define S3 ((PINC & 1))
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#define S2 ((PINC & 2) >> 1)
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#define S1 ((PINC & 4) >> 2)
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#define S0 ((PINC & 8) >> 3)
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#define S11 ((PORTC & 128 ) >> 7)
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#define S12 ((PORTC & 64 ) >> 6)
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#define S15 ((PIND & 4) >> 2)
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#define S14 ((PIND & 8) >> 3)
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#define S13 ((PIND & 16) >> 4)
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#define S12 ((PIND & 32) >> 5)
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#define S11 ((PIND & 64) >> 6)
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#define S10 ((PIND & 128) >> 7)
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#define S13 ((PORTB & 64 ) >> 6)
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#define S14 ((PORTB & 32 ) >> 5)
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#define S15 ((PORTB & 16) >> 4)
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#define S1 ((PORTD & 64 ) >> 6)
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#define S2 ((PORTD & 16 ) >> 4)
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#define S3 ((PORTD & 2 ) >> 1)
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#define S4 (PORTD & 1 )
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#define S16 ((PORTD & 128) >> 7)
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#define S6 ((PORTF & 2 ) >> 1)
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#define S7 ((PORTF & 16 ) >> 4)
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#define S8 ((PORTF & 32 ) >> 5)
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#define S9 ((PORTF & 64 ) >> 6)
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#define S10 ((PORTF & 128 ) >> 7)
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#define NCYCLES 350
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#define BROKEN 300
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#define TOO_LOW 60
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int counter[16];
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int pins[] = {A3, A2, A1, A0, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2};
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int distance;
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int nmax = 0;
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int sensor = 0;
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@ -63,30 +64,30 @@ byte sendAngle = 0, sendDistance = 0;
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byte sendByte = 0;
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unsigned long t = 0;
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t
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void setup() {
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delay(1000);
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Serial.begin(57600);
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pinMode(2, INPUT);
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pinMode(3, INPUT);
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pinMode(4, INPUT);
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pinMode(5, INPUT);
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pinMode(6, INPUT);
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pinMode(7, INPUT);
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pinMode(8, INPUT);
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pinMode(9, INPUT);
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pinMode(10, INPUT);
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pinMode(11, INPUT);
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pinMode(12, INPUT);
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pinMode(13, INPUT);
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pinMode(A0, INPUT);
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pinMode(A1, INPUT);
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pinMode(A2, INPUT);
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pinMode(A3, INPUT);
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pinMode(26, INPUT); //S1
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pinMode(25, INPUT); //S2
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pinMode(19, INPUT); //S3
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pinMode(18, INPUT); //S4
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pinMode(1, INPUT); //S5
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pinMode(40, INPUT); //S6
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pinMode(39, INPUT); //S7
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pinMode(38, INPUT); //S8
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pinMode(37, INPUT); //S9
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pinMode(36, INPUT); //S10
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pinMode(32, INPUT); //S11
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pinMode(31, INPUT); //S12
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pinMode(30, INPUT); //S13
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pinMode(29, INPUT); //S14
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pinMode(28, INPUT); //S15
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pinMode(27, INPUT); //S16
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pinMode(A4, OUTPUT);
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pinMode(22, OUTPUT); //LED1
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for (int i = 0; i < 16; i++) {
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xs[i] = cos((22.5 * PI / 180) * i);
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@ -108,22 +109,22 @@ void readBallInterpolation() {
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//reads from the register
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for (int i = 0; i < NCYCLES; i++) {
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counter[0] += !S0;
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counter[1] += !S1;
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counter[2] += !S2;
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counter[3] += !S3;
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counter[4] += !S4;
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counter[5] += !S5;
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counter[6] += !S6;
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counter[7] += !S7;
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counter[8] += !S8;
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counter[9] += !S9;
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counter[10] += !S10;
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counter[11] += !S11;
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counter[12] += !S12;
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counter[13] += !S13;
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counter[14] += !S14;
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counter[15] += !S15;
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counter[0] += !S1;
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counter[1] += !S2;
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counter[2] += !S3;
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counter[3] += !S4;
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counter[4] += !S5;
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counter[5] += !S6;
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counter[6] += !S7;
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counter[7] += !S8;
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counter[8] += !S9;
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counter[9] += !S10;
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counter[10] += !S11;
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counter[11] += !S12;
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counter[12] += !S13;
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counter[13] += !S14;
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counter[14] += !S15;
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counter[15] += !S16;
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}
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float x = 0, y = 0;
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@ -152,9 +153,9 @@ void readBallInterpolation() {
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//turn led on
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if (dist == 0) {
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digitalWrite(A4, LOW);
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digitalWrite(22, LOW);
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} else {
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digitalWrite(A4, HIGH);
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digitalWrite(22, HIGH);
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}
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}
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@ -163,8 +164,7 @@ void sendDataInterpolation() {
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sendAngle = ((byte) (angle / 2)) & 0b11111110;
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Serial.write(sendAngle);
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}else{
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sendDistance = dist;
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if(sendDistance > 254) sendDistance = 254;
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sendDistance = map(sendDistance, 0, NCYCLES, 254, 0);
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sendDistance = sendDistance |= 0b00000001;
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Serial.write(sendDistance);
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}
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@ -174,8 +174,6 @@ void sendDataInterpolation() {
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void test() {
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readBallInterpolation();
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Serial.print(S0);
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Serial.print(" | ");
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Serial.print(S1);
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Serial.print(" | ");
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Serial.print(S2);
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@ -205,6 +203,8 @@ void test() {
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Serial.print(S14);
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Serial.print(" | ");
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Serial.print(S15);
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Serial.print(" | ");
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Serial.print(S16);
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Serial.print(" () ");
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Serial.println(sensor);
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}
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