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