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ball_read: 32u4 -> arduino pro mini

pull/1/head
emamaker 2022-06-09 09:52:06 +02:00
parent 47385e9f19
commit bb7677eda5
1 changed files with 67 additions and 101 deletions
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168
utility/32u4/ball_read/ball_read.ino
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@ -19,45 +19,29 @@
S16 27 PD7 S16 27 PD7
loop cycle duration: 3.2 millis loop cycle duration: 3.2 millis
**/ **/
#define S10 ((PINB & 1))
#define S9 ((PINB & 2) >> 1)
#define S8 ((PINB & 4) >> 2)
#define S7 ((PINB & 8) >> 3)
#define S6 ((PINB & 16) >> 4)
#define S5 ((PINB & 32) >> 5)
#define S5 ((PINE & 64 ) >> 6) #define S4 ((PINC & 1))
#define S3 ((PINC & 2) >> 1)
#define S2 ((PINC & 4) >> 2)
#define S1 ((PINC & 8) >> 3)
#define S11 ((PINC & 128 ) >> 7) #define S16 ((PIND & 4) >> 2)
#define S12 ((PINC & 64 ) >> 6) #define S15 ((PIND & 8) >> 3)
#define S14 ((PIND & 16) >> 4)
#define S13 ((PINB & 64 ) >> 6) #define S13 ((PIND & 32) >> 5)
#define S14 ((PINB & 32 ) >> 5) #define S12 ((PIND & 64) >> 6)
#define S15 ((PINB & 16) >> 4) #define S11 ((PIND & 128) >> 7)
#define S1 ((PIND & 64 ) >> 6)
#define S2 ((PIND & 16 ) >> 4)
#define S3 ((PIND & 2 ) >> 1)
#define S4 (PIND & 1 )
#define S16 ((PIND & 128) >> 7)
#define S6 ((PINF & 2 ) >> 1)
#define S7 ((PINF & 16 ) >> 4)
#define S8 ((PINF & 32 ) >> 5)
#define S9 ((PINF & 64 ) >> 6)
#define S10 ((PINF & 128 ) >> 7)
#define NCYCLES 250 #define NCYCLES 250
#define BROKEN 230 #define BROKEN 230
#define TOO_LOW 45 #define TOO_LOW 45
#define LED1ON (PORTD = PORTD | 0b00100000)
#define LED1OFF (PORTD = PORTD & 0b11011111)
#define LED2ON (PORTF = PORTF | 0b00000001)
#define LED2OFF (PORTF = PORTF & 0b11111110)
#define LED3ON (PORTB = PORTB | 0b10000000)
#define LED3OFF (PORTB = PORTB & 0b01111111)
#define LED4ON (PORTB = PORTB | 0b00000001)
#define LED4OFF (PORTB = PORTB & 0b11111110)
int counter[16]; int counter[16];
int distance; int distance;
int nmax = 0; int nmax = 0;
@ -82,7 +66,7 @@ unsigned long t = 0;
void setup() { void setup() {
delay(1000); delay(1000);
Serial1.begin(57600); Serial.begin(57600);
/*For now replace pinMode with writes to the direction register. /*For now replace pinMode with writes to the direction register.
@ -90,13 +74,7 @@ void setup() {
but this needs further investigation*/ but this needs further investigation*/
//Set the LEDs as outputs, keep the rest as input by default //Set the LEDs as outputs, keep the rest as input by default
pinMode(A4, OUTPUT);
//LED3(PB7) and LED4 (PB0)
DDRB |= 0b10000001;
//LED2 (PF0)
DDRF |= 0b00000001;
//LED1 (PD5)
DDRD |= 0b00100000;
/*pinMode(26, INPUT); //S1 /*pinMode(26, INPUT); //S1
pinMode(25, INPUT); //S2 pinMode(25, INPUT); //S2
@ -125,7 +103,6 @@ void loop() {
readBallInterpolation(); readBallInterpolation();
//printCounter(); //printCounter();
sendDataInterpolation(); sendDataInterpolation();
readFromTeensy();
//test(); //test();
//delay(100); //delay(100);
} }
@ -172,6 +149,7 @@ void readBallInterpolation() {
//dist = hypot(x, y); //dist = hypot(x, y);
nmax = 0; nmax = 0;
//saves max value and sensor //saves max value and sensor
for (int i = 0; i < 16; i++) { for (int i = 0; i < 16; i++) {
if (counter[i] > nmax) { if (counter[i] > nmax) {
@ -184,20 +162,20 @@ void readBallInterpolation() {
//turn led on //turn led on
if (distance == 0) { if (distance == 0) {
LED1OFF; digitalWrite(A4, LOW);
} else { } else {
LED1ON; digitalWrite(A4, HIGH);
} }
} }
void sendDataInterpolation() { void sendDataInterpolation() {
if(sending){ if(sending){
sendAngle = ((byte) (angle / 2)) & 0b11111110; sendAngle = ((byte) (angle / 2)) & 0b11111110;
Serial1.write(sendAngle); Serial.write(sendAngle);
}else{ }else{
sendDistance = map(distance, 0, NCYCLES, 254, 0); sendDistance = NCYCLES - distance;
sendDistance = sendDistance |= 0b00000001; sendDistance = sendDistance |= 0b00000001;
Serial1.write(sendDistance); Serial.write(sendDistance);
} }
sending = !sending; sending = !sending;
} }
@ -205,41 +183,41 @@ void sendDataInterpolation() {
void test() { void test() {
readBallInterpolation(); readBallInterpolation();
Serial1.println("==========="); Serial.println("===========");
Serial1.print(S1); Serial.print(S1);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S2); Serial.print(S2);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S3); Serial.print(S3);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S4); Serial.print(S4);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S5); Serial.print(S5);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S6); Serial.print(S6);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S7); Serial.print(S7);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S8); Serial.print(S8);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S9); Serial.print(S9);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S10); Serial.print(S10);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S11); Serial.print(S11);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S12); Serial.print(S12);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S13); Serial.print(S13);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S14); Serial.print(S14);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S15); Serial.print(S15);
Serial1.print(" | "); Serial.print(" | ");
Serial1.print(S16); Serial.print(S16);
Serial1.print(" --- "); Serial.print(" --- ");
Serial1.println(sensor); Serial.println(sensor);
Serial1.println("==========="); Serial.println("===========");
delay(100); delay(100);
} }
@ -247,26 +225,14 @@ void test() {
void printCounter() { void printCounter() {
for (int i = 0; i < 16; i++) { for (int i = 0; i < 16; i++) {
Serial1.print(counter[i]); Serial.print(counter[i]);
Serial1.print(" | "); Serial.print(" | ");
} }
Serial1.print("\t\t| Angle: " ); Serial.print("\t\t| Angle: " );
Serial1.print(angle); Serial.print(angle);
Serial1.print("||| Distance: " ); Serial.print("||| Distance: " );
Serial1.print(distance); Serial.print(distance);
Serial1.println(); Serial.println();
delay(100); delay(100);
} }
void readFromTeensy(){
while(Serial1.available()){
byte b = Serial1.read();
if(b & 0b00000001 == 1) LED2ON;
else LED2OFF;
if((b & 0b00000010) >> 1 == 1) LED3ON;
else LED3OFF;
if((b & 0b00000100) >> 2 == 1) LED4ON;
else LED4OFF;
}
}