Arduino QSteer

README.md

QSteer commands source: http://d.hatena.ne.jp/o2mana/20091122/1258912540

control.rb

#!/usr/bin/env ruby

require 'serialport'

port = Dir.glob('/dev/ttyACM*').first
sp = SerialPort.new(port, 9600)
sp.write('A') # use channel A
turbo = false

loop do
  system("stty raw -echo")
  char = STDIN.getc
  system("stty -raw echo")
  case char
  when '5'
    if turbo then sp.write('a') else sp.write('1') end
  when '2'
    if turbo then sp.write('b') else sp.write('2') end
  when '4'
    if turbo then sp.write('c') else sp.write('3') end
  when '6'
    if turbo then sp.write('d') else sp.write('4') end
  when '1'
    if turbo then sp.write('e') else sp.write('5') end
  when '3'
    if turbo then sp.write('f') else sp.write('6') end
  when '7'
    sp.write('7')
  when '9'
    sp.write('8')
  when '+'
    turbo = !turbo
  end
  break if char == 'q'
end

sp.close

qsteer-arduino.pde

#define LED 10

int data [15];
int g = 0;
byte b = B001111;

void setpwm(int pwm) {
  data[g] = pwm;
  g++;
}

void runpwm() {
  for (int i = 5; i >= 0; i--) {
    setpwm(400);
    int pwm = (bitRead(b, i) == 1) ? 900 : 430;
    setpwm(pwm);
  }
}

void sendpwm() {
  for (int cnt = 0; cnt < sizeof(data) / sizeof(int) - 1; cnt++) {
    unsigned long len = data[cnt];
    unsigned long us = micros();
    do {
      digitalWrite(LED, 0 + (cnt & 1));
      delayMicroseconds(8);
      digitalWrite(LED, 0);
      delayMicroseconds(7);
    } while (long (us + len - micros()) > 0);
  }
}

void execpwm() {
  g = 0;
  int pwm = 7540;
  int ch1 = bitRead(b, 4);
  int ch2 = bitRead(b, 5);
  if (ch1 == 0 && ch2 == 0) pwm = 7540;
  if (ch1 == 0 && ch2 == 1) pwm = 21860;
  if (ch1 == 1 && ch2 == 0) pwm = 36200;
  if (ch1 == 1 && ch2 == 1) pwm = 50570;

  setpwm(pwm);
  setpwm(1740);
  runpwm();
  sendpwm();
}

void setch(byte bb) {
  bitWrite(b, 4, bitRead (bb, 0));
  bitWrite(b, 5, bitRead (bb, 1));
}

void setbit(byte bb) {
  for (int i = 0; i < 4; i++) {
    bitWrite(b, i, bitRead(bb, i));
  }
  execpwm();
}

void setup() {
  Serial.begin(9600);
  Serial.println("Ready"); 
  pinMode(LED, OUTPUT); 
}

void loop() {
  static int v = 0;
  if (Serial.available()> 0) {
    char ch = Serial.read();
    switch (ch) {
      case '1':
        setbit(B0001); // forward
        break;
      case '2':
        setbit(B0010); // backward
        break;
      case '3':
        setbit(B0110); // forward left
        break;
      case '4':
        setbit(B0111); // forward right
        break;
      case '5':
        setbit(B1010); // backward left
        break;
      case '6':
        setbit(B1011); // backward right
        break;
      case '7':
        setbit(B0011); // wheels left
        break;
      case '8':
        setbit(B0100); // wheels right
        break;
      case '0':
        setbit(B1111); // mb "turbo" button
        break;
      case 'a':
        setbit(B0101); // forward fast
        break;
      case 'b':
        setbit(B1100); // backward fast
        break;
      case 'c':
        setbit(B1000); // forward left fast
        break;
      case 'd':
        setbit(B1001); // forward right fast
        break;
      case 'e':
        setbit(B1101); // backward left fast
        break;
      case 'f':
        setbit(B1110); // backward right fast
        break;
      case 'A':
        setch(B00); // set channel to A
        break;
      case 'B':
        setch(B01); // set channel to B
        break;
      case 'C':
        setch(B10); // set channel to C
        break;
      case 'D':
        setch(B11); // set channel to D
        break;
    }
  }
}

rakefile.rb

import '../rakefile.rb'