111 lines
2.3 KiB
C++
111 lines
2.3 KiB
C++
boolean debug_state = false;
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/*const int cam_pin = 4; //relay 8
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const int cam_time = {{cam.time}};
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const int cam_delay = {{cam.delay}};
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const int cam_momentary = {{cam.momentary}};
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const int cam_dir_1 = 6; //relay 7*/
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boolean cam_dir = true; //camera defaults to forward
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const char cmd_camera = 'c';
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const char cmd_cam_forward = 'e';
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const char cmd_cam_backward = 'f';
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const char cmd_mcopy_identifier = 'm';
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const char cmd_cam_identifier = 'k';
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const char cmd_debug = 'd';
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const char cmd_connect = 'i';
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volatile char cmd_char = 'z';
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const int serialDelay = 5;
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void setup() {
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Serial.begin(57600);
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Serial.flush();
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Serial.setTimeout(serialDelay);
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}
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void loop() {
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if (Serial.available()) {
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/* read the most recent byte */
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cmd_char = (char)Serial.read();
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}
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if (cmd_char != 'z') {
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cmd(cmd_char);
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cmd_char = 'z';
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}
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}
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void cmd (char val) {
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if (val == cmd_debug) {
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debug();
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} else if (val == cmd_connect) {
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connect();
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} else if (val == cmd_mcopy_identifier) {
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identify();
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} else if (val == cmd_camera) {
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camera();
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} else if (val == cmd_cam_forward) {
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cam_direction(true); //explicit
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} else if (val == cmd_cam_backward) {
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cam_direction(false);
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}
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}
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void debug () {
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debug_state = true;
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Serial.println(cmd_debug);
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log("debugging enabled");
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}
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void connect () {
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Serial.println(cmd_connect);
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log("connect()");
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}
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void identify () {
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Serial.println(cmd_cam_identifier);
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log("identify()");
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}
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void camera () {
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/* FROM INTVAL
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* WILL USE OPTICAL ENDSTOP
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* Time_start();
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cam_dir = dir;
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if (cam_dir) {
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analogWrite(PIN_MOTOR_FORWARD, fwd_speed);
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analogWrite(PIN_MOTOR_BACKWARD, 0);
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} else {
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analogWrite(PIN_MOTOR_BACKWARD, bwd_speed);
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analogWrite(PIN_MOTOR_FORWARD, 0);
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}
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running = true;
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if (fwd_speed == 255) {
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delay(300);
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} else {
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delay(600);
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}
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micro_primed = false;*/
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delay(750); //TEMPORARY DELAY FOR TESTING TIMING
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Serial.println(cmd_camera);
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log("camera()");
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}
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void cam_direction (boolean state) {
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cam_dir = state;
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if (state) {
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Serial.println(cmd_cam_forward);
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log("cam_direction -> true");
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} else {
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Serial.println(cmd_cam_backward);
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log("cam_direction -> false");
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}
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}
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void log (String msg) {
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if (debug_state) {
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Serial.println(msg);
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}
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}
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