first commit, starting to work with a new setup
parent
bc0b19ccf1
commit
e341214905
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@ -7,14 +7,14 @@
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#include "vars.h"
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#include "vars.h"
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#define S1I A14
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#define S1I 21 //A14 N
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#define S1O A15
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#define S1O 20 //A15
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#define S2I A16
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#define S2I 17 //A16 E
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#define S2O A17
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#define S2O 16 //A17
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#define S3I A20
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#define S3I 15 //A20 S
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#define S3O A0
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#define S3O 14 //A0
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#define S4I A1
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#define S4I 23 //A1 O
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#define S4O A2
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#define S4O 22 //A2
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#define LINE_THRESH 90
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#define LINE_THRESH 90
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#define EXTIME 200
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#define EXTIME 200
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@ -7,14 +7,14 @@
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#include "vars.h"
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#include "vars.h"
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#define S1I A14
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#define S1I 21 //A14 N
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#define S1O A15
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#define S1O 20 //A15
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#define S2I A16
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#define S2I 17 //A16 E
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#define S2O A17
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#define S2O 16 //A17
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#define S3I A20
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#define S3I 15 //A20 S
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#define S3O A0
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#define S3O 14 //A0
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#define S4I A1
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#define S4I 23 //A1 O
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#define S4O A2
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#define S4O 22 //A2
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#define LINE_THRESH_CAM 90
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#define LINE_THRESH_CAM 90
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#define EXIT_TIME 100
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#define EXIT_TIME 100
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@ -3,10 +3,19 @@
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#define GLOBAL_SPD_MULT 1.0
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#define GLOBAL_SPD_MULT 1.0
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/*SWS and LEDS are to be tested and implemented in the code.
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the new setup is the one commented, leds have to be written
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in the 32U4 code*/
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#define LED_R 20
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#define LED_R 20
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#define LED_Y 17
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#define LED_Y 17
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#define LED_G 13
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#define LED_G 13
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#define BUZZER 30
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#define BUZZER 30
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#define SWITCH_SX 28
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#define SWITCH_SX 28
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#define SWITCH_DX 29
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#define SWITCH_DX 29
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/*#define BUZZER 6
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#define SWITCH_1 39
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#define SWITCH_2 38
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#define SWITCH_3 33*/
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@ -1,30 +1,32 @@
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#include "sensors/data_source_bt.h"
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#include "sensors/data_source_bt.h"
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//if needed, substitute Serial1 with Serial3 to return to the old code setup
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DataSourceBT :: DataSourceBT(HardwareSerial* ser_, int baud) : DataSource(ser_, baud){
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DataSourceBT :: DataSourceBT(HardwareSerial* ser_, int baud) : DataSource(ser_, baud){
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// connect();
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// connect();
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}
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}
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void DataSourceBT :: connect(){
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void DataSourceBT :: connect(){
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Serial3.print("$");
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Serial1.print("$");
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Serial3.print("$");
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Serial1.print("$");
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Serial3.print("$");
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Serial1.print("$");
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delay(100);
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delay(100);
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Serial3.println("C");
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Serial1.println("C");
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}
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}
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void DataSourceBT :: reconnect(){
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void DataSourceBT :: reconnect(){
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if(!comrade){
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if(!comrade){
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if(!b){
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if(!b){
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Serial3.print("$");
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Serial1.print("$");
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Serial3.print("$");
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Serial1.print("$");
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Serial3.print("$");
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Serial1.print("$");
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}else{
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}else{
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Serial3.println("C");
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Serial1.println("C");
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}
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}
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b = !b;
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b = !b;
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}else{
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}else{
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Serial3.println("---");
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Serial1.println("---");
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}
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}
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}
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}
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@ -32,7 +34,7 @@ void DataSourceBT :: test(){
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if (DEBUG.available()) {
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if (DEBUG.available()) {
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DEBUG.println((char)DEBUG.read());
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DEBUG.println((char)DEBUG.read());
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}
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}
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if (Serial3.available()) {
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if (Serial1.available()) {
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Serial3.write((char)Serial3.read());
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Serial1.write((char)Serial1.read());
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}
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}
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}
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}
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@ -11,13 +11,16 @@ void initSensors(){
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dUs = { new DataSourceUS(&Wire1, int(112)), new DataSourceUS(&Wire1, int(113)),
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dUs = { new DataSourceUS(&Wire1, int(112)), new DataSourceUS(&Wire1, int(113)),
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new DataSourceUS(&Wire1, int(114)), new DataSourceUS(&Wire1, int(115)) };
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new DataSourceUS(&Wire1, int(114)), new DataSourceUS(&Wire1, int(115)) };
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drive = new DriveController(new Motor(11, 12, 4, 45),new Motor(24, 25, 5, 135), new Motor(26, 27, 2, 225), new Motor(28, 29, 3, 315));
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drive = new DriveController(new Motor(12, 11, 2, 45),new Motor(25, 24, 5, 135), new Motor(27, 26, 6, 225), new Motor(21, 22, 23, 315));
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//drive = new DriveController(new Motor(12, 11, 2, 45),new Motor(25, 24, 5, 135), new Motor(27, 26, 6, 225), new Motor(21, 22, 23, 315));
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compass = new DataSourceBNO055();
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compass = new DataSourceBNO055();
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ball = new DataSourceBall(&Serial4, 57600);
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ball = new DataSourceBall(&Serial2, 57600);
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camera = new DataSourceCameraConic(&Serial2, 19200);
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//ball = new DataSourceBall(&Serial4, 57600);
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camera = new DataSourceCameraConic(&Serial3, 19200);
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//camera = new DataSourceCameraConic(&Serial2, 19200);
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usCtrl = new DataSourceCtrl(dUs);
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usCtrl = new DataSourceCtrl(dUs);
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bt = new DataSourceBT(&Serial3, 115200);
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bt = new DataSourceBT(&Serial1, 115200);
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//bt = new DataSourceBT(&Serial3, 115200);
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}
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}
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void updateSensors(){
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void updateSensors(){
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Reference in New Issue