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This commit is contained in:
Tristan Hearn
2012-08-10 15:20:39 -04:00
parent 938e75ac51
commit 8fff2d2b03
6 changed files with 671 additions and 497 deletions
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76
prototype/prototype.ino
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@@ -3,7 +3,8 @@
#include <Servo.h>
SoftwareSerial *sserial = NULL;
Servo servos[8];
int servo_pins[] = {0, 0, 0, 0, 0, 0, 0, 0};
boolean connected = false;
int Str2int (String Str_value)
@@ -121,6 +122,62 @@ void pulseInSHandler(String data){
Serial.println(duration);
}
void SV_add(String data) {
String sdata[3];
split(sdata,3,data,'%');
int pin = Str2int(sdata[0]);
int min = Str2int(sdata[1]);
int max = Str2int(sdata[2]);
int position = -1;
for (int i = 0; i<8;i++) {
if (servo_pins[i] == pin) { //reset in place
servos[position].detach();
servos[position].attach(pin, min, max);
servo_pins[position] = pin;
Serial.println(position);
return;
}
}
for (int i = 0; i<8;i++) {
if (servo_pins[i] == 0) {position = i;break;} // find spot in servo array
}
if (position == -1) {;} //no array position available!
else {
servos[position].attach(pin, min, max);
servo_pins[position] = pin;
Serial.println(position);
}
}
void SV_remove(String data) {
int position = Str2int(data);
servos[position].detach();
servo_pins[position] = 0;
}
void SV_read(String data) {
int position = Str2int(data);
angle = servos[position].read();
Serial.println(angle);
}
void SV_write(String data) {
String sdata[2];
split(sdata,2,data,'%');
int position = Str2int(sdata[0]);
int angle = Str2int(sdata[1]);
angle = servos[position].write(angle);
}
void SV_write_ms(String data) {
String sdata[2];
split(sdata,2,data,'%');
int position = Str2int(sdata[0]);
int uS = Str2int(sdata[1]);
angle = servos[position].writeMicroseconds(uS);
}
void SerialParser(void) {
char readChar[64];
Serial.readBytesUntil(33,readChar,64);
@@ -162,7 +219,22 @@ void SerialParser(void) {
}
else if (cmd == "sr") {
SS_read(data);
}
}
else if (cmd == "sva") {
SV_add(data);
}
else if (cmd == "svr") {
SV_read(data);
}
else if (cmd == "svw") {
SV_write(data);
}
else if (cmd == "svwm") {
SV_write_ms(data);
}
else if (cmd == "svd") {
SV_remove(data);
}
}