Sketch work

ino/takeup/takeup.ino

@@ -1,10 +1,11 @@
 
 /**
- * Prototype
- * Arduino Uno
+ * Arduino Nano
  * L298N 
  **/
 
+#include <SoftwareSerial.h>
+
 #define Fpos 9
 #define Fneg 10
 
@@ -17,6 +18,10 @@
 #define Fbutton 3
 #define Bbutton 4
 
+const int Buttons[2] = {Fbutton, Bbutton};
+volatile int ButtonState[4] = {1, 1};
+volatile long ButtonTime[4] = {0, 0};
+
 const int Fmotor = 0;
 const int Bmotor = 1;
 
@@ -26,9 +31,15 @@ volatile int Bspeed = 255;
 volatile boolean Frunning = false;
 volatile boolean Brunning = false;
 
+volatile char cmdChar = 'z';
+const char Fcmd = 'D';
+const char Bcmd = 'E';
+
+SoftwareSerial softSerial (Fsignal, Bsignal);
+
 void setup() {
   Serial.begin(57600);
-  Serial.println("Started takeup demo");
+  softSerialmy.begin(9600);
   pinMode(Fpos, OUTPUT);
   pinMode(Fneg, OUTPUT);
   pinMode(Bpos, OUTPUT);
@@ -39,6 +50,24 @@ void setup() {
 }
 
 void loop() {
+  if (Serial.available()) {
+    cmdChar = (char)Serial.read();
+  }
+  if (cmdChar != 'z') {
+    cmd(cmdChar);
+  }
+
+  if (softSerial.available() > 0) {
+    cmdChar = (char)softSerial.read();
+  }
+  if (cmdChar != 'z') {
+    cmd(cmdChar);
+  }
+
+  cmdChar = 'z';
+}
+
+void cmd (char which) {
 
 }
 
@@ -152,6 +181,44 @@ void brakeMotor (int motor) {
   }
 }
 
+/* ------------------------------------------------
+ *  Reads the state of a specific button and compares
+ *  it to a stored value in the button_state array.
+ *  If the value is different than what is stored,
+ *  check if button is pressed and store new timer value,
+ *  if button is released, compare current time to the stored
+ *  time value and pass that to the button_end function.
+ * ------------------------------------------------*/
+void btn (int index) {
+  int val = digitalRead(Buttons[index]);
+  if (val != ButtonState[index]) {
+    if (val == LOW) { // pressed
+      ButtonTime[index] = millis();
+    } else if (val == HIGH) { // not pressed
+      buttontime = millis() - ButtonTime[index];
+      button_end(index, buttontime);
+    }
+  }
+  ButtonState[index] = val;
+}
+
+/* ------------------------------------------------
+ *  Determines a specific action for each press length
+ *  of each button.
+ * ------------------------------------------------*/
+void button_end (int index, long buttontime) {
+  if (index == 0) { //forward
+    if (buttontime > 10) {
+      //
+    }
+  } else if (index == 1) { //backward
+    if (buttontime > 10) {
+      //
+    }
+  }
+  buttontime = 0;
+}
+
 /**
  * Vex = higher voltage that can power the motor and/or the shield as well as the Arduino if wanted
  * 5V = Must be a clean 5V that can power the Arduino and shield, and if wanted also the motor itself