SPQR-Team1-2020/utility/ball_read/ball_read/ball_read.ino

/**
  Sensor Mapping
    Sensor  Angle Pin Port
    S0      0     A3  C3
    S1            A2  C2
    S2            A1  C1
    S3            A0  C0
    S4      90    13  B5
    S5            12  B4
    S6            11  B3
    S7            10  B2
    S8      180   9   B1
    S9            8   B0
    S10           7   D7
    S11           6   D6
    S12     270   5   D5
    S13           4   D4
    S14           3   D3
    S15           2   D2
    loop cycle duration: 3.2 millis
**/

#define S9 ((PINB & 1))
#define S8 ((PINB & 2) >> 1)
#define S7 ((PINB & 4) >> 2)
#define S6 ((PINB & 8) >> 3)
#define S5 ((PINB & 16) >> 4)
#define S4 ((PINB & 32) >> 5)

#define S3 ((PINC & 1))
#define S2 ((PINC & 2) >> 1)
#define S1 ((PINC & 4) >> 2)
#define S0 ((PINC & 8) >> 3)

#define S15 ((PIND & 4) >> 2)
#define S14 ((PIND & 8) >> 3)
#define S13 ((PIND & 16) >> 4)
#define S12 ((PIND & 32) >> 5)
#define S11 ((PIND & 64) >> 6)
#define S10 ((PIND & 128) >> 7)

#define NCYCLES 350
#define BROKEN  300
#define TOO_LOW 60

int counter[16];
int pins[] = {A3, A2, A1, A0, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2};
int distance;
int nmax = 0;
int sensor = 0;

int oldIndex = 0;
int oldDistance = 0;

byte ballInfo = 0;

float xs[16];
float ys[16];

float angle = 0, dist = 0;
boolean sending = false;
byte sendAngle = 0, sendDistance = 0;
byte sendByte = 0;

unsigned long t = 0;

void setup() {
  delay(1000);

  Serial.begin(57600);

  pinMode(2, INPUT);
  pinMode(3, INPUT);
  pinMode(4, INPUT);
  pinMode(5, INPUT);
  pinMode(6, INPUT);
  pinMode(7, INPUT);
  pinMode(8, INPUT);
  pinMode(9, INPUT);
  pinMode(10, INPUT);
  pinMode(11, INPUT);
  pinMode(12, INPUT);
  pinMode(13, INPUT);
  pinMode(A0, INPUT);
  pinMode(A1, INPUT);
  pinMode(A2, INPUT);
  pinMode(A3, INPUT);

  pinMode(A4, OUTPUT);

  for (int i = 0; i < 16; i++) {
    xs[i] = cos((22.5 * PI / 180) * i);
    ys[i] = sin((22.5 * PI / 180) * i);
  }
}

void loop() {
  readBallInterpolation();
  sendDataInterpolation();
}

/**--- READ BALL USING SENSORS ANGLE INTERPOLATION ---**/

void readBallInterpolation() {
  for (int i = 0; i < 16; i++) {
    counter[i] = 0;
  }

  //reads from the register
  for (int i = 0; i < NCYCLES; i++) {
    counter[0] += !S0;
    counter[1] += !S1;
    counter[2] += !S2;
    counter[3] += !S3;
    counter[4] += !S4;
    counter[5] += !S5;
    counter[6] += !S6;
    counter[7] += !S7;
    counter[8] += !S8;
    counter[9] += !S9;
    counter[10] += !S10;
    counter[11] += !S11;
    counter[12] += !S12;
    counter[13] += !S13;
    counter[14] += !S14;
    counter[15] += !S15;
  }

  float x = 0, y = 0;
  for (int i = 0; i < 16; i++) {
    if (counter[i] > BROKEN || counter[i] < TOO_LOW) counter[i] = 0;

    x += xs[i] * counter[i];
    y += ys[i] * counter[i];
  }

  angle = atan2(y, x) * 180 / PI;
  angle = ((int)(angle + 360)) % 360;

  //distance is 0 when not seeing ball
  //dist = hypot(x, y);
  
  nmax = 0;
  //saves max value and sensor
  for (int i = 0; i < 16; i++) {
    if (counter[i] > nmax) {
      nmax = counter[i];
    }
  }

  dist = nmax;
  
  //turn led on
  if (dist == 0) {
    digitalWrite(A4, LOW);
  } else {
    digitalWrite(A4, HIGH);
  }
}

void sendDataInterpolation() {
  if(sending){
    sendAngle = ((byte) (angle / 2)) & 0b11111110;
    Serial.write(sendAngle);
  }else{
    sendDistance = dist;
    if(sendDistance > 254) sendDistance = 254;
    sendDistance = sendDistance |= 0b00000001;
    Serial.write(sendDistance);
  }
  sending = !sending;
}

void test() {
  readBallInterpolation();

  Serial.print(S0);
  Serial.print(" | ");
  Serial.print(S1);
  Serial.print(" | ");
  Serial.print(S2);
  Serial.print(" | ");
  Serial.print(S3);
  Serial.print(" | ");
  Serial.print(S4);
  Serial.print(" | ");
  Serial.print(S5);
  Serial.print(" | ");
  Serial.print(S6);
  Serial.print(" | ");
  Serial.print(S7);
  Serial.print(" | ");
  Serial.print(S8);
  Serial.print(" | ");
  Serial.print(S9);
  Serial.print(" | ");
  Serial.print(S10);
  Serial.print(" | ");
  Serial.print(S11);
  Serial.print(" | ");
  Serial.print(S12);
  Serial.print(" | ");
  Serial.print(S13);
  Serial.print(" | ");
  Serial.print(S14);
  Serial.print(" | ");
  Serial.print(S15);
  Serial.print(" ()  ");
  Serial.println(sensor);
}

void printCounter() {
  for (int i = 0; i < 16; i++) {
    Serial.print(counter[i]);
    Serial.print(" | ");
  }
  Serial.println();
}