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Last active August 29, 2015 14:27
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compiler.output
/usr/share/arduino/hardware/tools/avr/bin/avr-g++ -c -g -Os -Wall -fno-exceptions -ffunction-sections -fdata-sections -mmcu=atmega328p -DF_CPU=16000000L -MMD -DUSB_VID=null -DUSB_PID=null -DARDUINO=106 -I/usr/share/arduino/hardware/arduino/cores/arduino -I/usr/share/arduino/hardware/arduino/variants/standard /tmp/build4729959347070805526.tmp/Roomba_Nerf_03.cpp -o /tmp/build4729959347070805526.tmp/Roomba_Nerf_03.cpp.o
In file included from Roomba_Nerf_03.ino:7:
include.h:1:28: warning: SoftwareSerial.h: No such file or directory
include.h:2:19: warning: SPI.h: No such file or directory
include.h:3:18: warning: Pixy.h: No such file or directory
Roomba_Nerf_03:37: error: ‘Pixy’ does not name a type
Roomba_Nerf_03:40: error: ‘SoftwareSerial’ does not name a type
Roomba_Nerf_03.ino: In function ‘void setup()’:
Roomba_Nerf_03:81: error: ‘roombaSerial’ was not declared in this scope
Roomba_Nerf_03:91: error: ‘pixy’ was not declared in this scope
Roomba_Nerf_03.ino: In function ‘void motorsTest_01()’:
Roomba_Nerf_03:185: error: ‘roombaSerial’ was not declared in this scope
Roomba_Nerf_03.ino: In function ‘void pixyTest_02()’:
Roomba_Nerf_03:228: error: ‘pixy’ was not declared in this scope
Roomba_Nerf_03.ino: In function ‘void pixyTest_01()’:
Roomba_Nerf_03:276: error: ‘pixy’ was not declared in this scope
Roomba_Nerf_03.ino: In function ‘void pixyTest_00()’:
Roomba_Nerf_03:301: error: ‘pixy’ was not declared in this scope
Roomba_Nerf_03.ino: In function ‘void directDrive(short int, short int)’:
Roomba_Nerf_03:314: error: ‘roombaSerial’ was not declared in this scope
Roomba_Nerf_03.ino: In function ‘void startMode(short int)’:
Roomba_Nerf_03:342: error: ‘roombaSerial’ was not declared in this scope
Roomba_Nerf_03.ino: In function ‘void cleaningMotors(short int, short int)’:
Roomba_Nerf_03:384: error: ‘roombaSerial’ was not declared in this scope
Roomba_Nerf_03.ino: In function ‘int checkSensor(byte, byte, byte*)’:
Roomba_Nerf_03:572: error: ‘roombaSerial’ was not declared in this scope
Roomba_Nerf_03.ino:568: warning: unused variable ‘bufferPos’
Roomba_Nerf_03.ino: In function ‘void brushMotorCurrentTest_00()’:
Roomba_Nerf_03:602: error: ‘roombaSerial’ was not declared in this scope
Roomba_Nerf_03.ino:594: warning: unused variable ‘incomingByte’
Roomba_Nerf_03.ino:596: warning: unused variable ‘timeOut’
Roomba_Nerf_03.ino:597: warning: unused variable ‘bufferPos’
Roomba_Nerf_03.ino:598: warning: unused variable ‘howManyBytes’
Raw
directory.tree
.
├── directory.tree
├── include.h
└── Roomba_Nerf_03.ino
0 directories, 3 files
Raw
include.h
#include <SoftwareSerial.h>
#include <SPI.h>
#include <Pixy.h>
Raw
roomba_nerf_03.ino
// Currently working on code to turn on and of brush and vacuum motors.
#include "include.h"
#define rxPin 10
#define txPin 9
#define start 128
#define reset 7
#define stop 173
#define safe 131
#define full 132
#define bumpRight 1 << 0
#define bumpLeft 1 << 1
#define dropRight 1 << 2
#define dropLeft 1 << 3
#define primary 0
#define secondary 1
#define dump 2
// set pin numbers:
const int buttonPin_5 = 5; // the number of the pushbutton pin
const int buttonPin_6 = 6; // the number of the pushbutton pin
int buttonState_5 = 0; // variable for reading the pushbutton status
int buttonState_6 = 0; // variable for reading the pushbutton status
// byte response[16];
// setup pixy
Pixy pixy;
// set up a new software serial port
SoftwareSerial roombaSerial = SoftwareSerial(rxPin, txPin);
// pin assignments
int statusLED = 4;
// pixy variables
int deadZone = 15;
int turning = 0;
// motor variables
signed short mainBrush = 0;
signed short sideBrush = 0;
signed short vacuum = 0;
int16_t brushCurrent = 0;
// interrupt variables
int action_0=0;
int action_1=0;
volatile int state_0 = LOW;
volatile int state_1 = LOW;
long debouncing_time = 40; //Debouncing Time in Milliseconds
volatile unsigned long last_micros;
int brushSpeed = 0;
int dumpSpeed = 0;
int lowSpeed = -30;
int midSpeed = -70;
int highSpeed = -100;
void setup() {
// attach interrupt buttons:
attachInterrupt(0, interrupt_0, RISING); // RISING FALLING CHANGING
attachInterrupt(1, interrupt_1, RISING);
// define pin modes for status led and direct device/baud:
pinMode(statusLED, OUTPUT);
// set the data rate for the SoftwareSerial port, this is the
// iRobot's default rate of 115200 baud:
roombaSerial.begin(115200);
// start hardware serial port
Serial.begin(115200);
// define pin modes for software tx, rx pins:
pinMode(rxPin, INPUT);
pinMode(txPin, OUTPUT);
// initalize the pixy
pixy.init();
Serial.println("PIXY GO START!");
pinMode(buttonPin_5, INPUT);
pinMode(buttonPin_6, INPUT);
// begin roomba mode
// startMode(safe);
startMode(full);
}
void loop() {
// pixyTest_01();
// pixyTest_02();
// motorsTest_00();
// motorsTest_01();
// dartCollectorTest();
// brushMotorCurrentTest_00();
// read the state of the pushbutton value:
buttonState_5 = digitalRead(buttonPin_5);
buttonState_6 = digitalRead(buttonPin_6);
// check if the pushbutton is pressed.
// if it is, the buttonState is HIGH:
if (buttonState_6 == HIGH) {
// turn LED on:
//cleaningMotors(primary, 30);
brushSpeed = midSpeed;
//dumpSpeed = 127;
dumpSpeed = 0;
}
if (buttonState_5 == HIGH) {
// turn LED on:
//cleaningMotors(primary, 70);
brushSpeed = highSpeed;
//dumpSpeed = 127;
dumpSpeed = 0;
}
cleaningMotors(primary, brushSpeed);
//cleaningMotors(dump, dumpSpeed);
}
void dartCollectorTest() {
// move forward with brush test
// cleaningMotors(primary, 30);
//
// directDrive(250, 250);
// delay(3000);
// directDrive(0, 0);
// delay(2000);
// upside down with brushes test
cleaningMotors(primary, 100);
// delay(2000);
// directDrive(-250, -250);
// delay(2000);
// directDrive(0, 0);
// delay(2000);
}
void motorsTest_01() {
cleaningMotors(primary, 30);
delay(500);
cleaningMotors(primary, 0);
delay(500);
cleaningMotors(primary, -30);
delay(500);
cleaningMotors(primary, 0);
delay(500);
cleaningMotors(secondary, 30);
delay(500);
cleaningMotors(secondary, 0);
delay(500);
cleaningMotors(secondary, -30);
delay(500);
cleaningMotors(secondary, 0);
delay(500);
cleaningMotors(dump, 30);
delay(500);
cleaningMotors(dump, 0);
delay(500);
roombaSerial.write(144); // OI opcode for PWM Motors
roombaSerial.write((int8_t)30); // 30
//roombaSerial.write(0x1E); // 30
//roombaSerial.write(0x0064); //100
roombaSerial.write((byte)0);
roombaSerial.write((byte)0);
delay(500);
roombaSerial.write(144); // OI opcode for PWM Motors
roombaSerial.write((byte)0);
roombaSerial.write((byte)0);
roombaSerial.write((byte)0);
delay(500);
roombaSerial.write(144); // OI opcode for PWM Motors
roombaSerial.write((int8_t)-30); // -30
//roombaSerial.write(0xFFE2); // -30
//roombaSerial.write(0xFF9C); //-100
roombaSerial.write((byte)0);
roombaSerial.write((byte)0);
delay(500);
}
void motorsTest_00() {
cleaningMotors(primary, 31);
delay(2000);
cleaningMotors(primary, 0);
delay(1000);
cleaningMotors(primary, -31);
delay(2000);
cleaningMotors(primary, 0);
cleaningMotors(secondary, 31);
delay(2000);
cleaningMotors(secondary, 0);
delay(1000);
cleaningMotors(secondary, -31);
delay(1000);
cleaningMotors(secondary, 0);
cleaningMotors(dump, 31);
delay(2000);
cleaningMotors(dump, 0);
}
void pixyTest_02() {
if (pixy.getBlocks()) {
int xx = pixy.blocks[0].x;
if (xx < (160 - deadZone)) {
if (turning != 1) {
turning = 1;
Serial.print("\tLeft");
Serial.print("\t");
Serial.print(turning);
Serial.print("\n");
left(100);
}
}
if (xx > (160 + deadZone)) {
if (turning != 2) {
turning = 2;
Serial.print("\tRight");
Serial.print("\t");
Serial.print(turning);
Serial.print("\n");
right(100);
}
}
if (xx > (159 - deadZone) and xx < (161 + deadZone)) {
if (turning != 0) {
turning = 0;
Serial.print("\tHalt");
Serial.print("\t");
Serial.print(turning);
Serial.print("\n");
halt();
}
}
else {
if (turning == 0) {
Serial.print("\t--H");
Serial.print("\t");
Serial.print(turning);
Serial.print("\n");
}
}
}
}
void pixyTest_01() {
if (pixy.getBlocks()) {
if (pixy.blocks[0].signature == 1) {
int xx = pixy.blocks[0].x;
if (xx < (160 - deadZone)) {
Serial.print("\tLeft\n");
}
if (xx > (160 + deadZone)) {
Serial.print("\tRight\n");
}
if (xx > (159 - deadZone) and xx < (161 + deadZone)) {
Serial.print("\tHalt\n");
}
}
else {
Serial.print("\tHalt\n");
}
}
}
void pixyTest_00() {
if (pixy.getBlocks())
{
if (pixy.blocks[0].signature == 1); {
Serial.print("\t");
Serial.print(pixy.blocks[0].x);
Serial.print("\t\t");
Serial.println(pixy.blocks[0].y);
}
}
}
void directDrive(signed short leftV, signed short rightV) {
roombaSerial.write(145); // Opcode number for DIRECT DRIVE
roombaSerial.write(rightV >> 8);
roombaSerial.write(rightV & 0xFF);
roombaSerial.write(leftV >> 8);
roombaSerial.write(leftV & 0xFF);
}
void halt() {
directDrive(0,0);
}
void left(signed short velocity) {
directDrive(0-velocity,velocity);
}
void right(signed short velocity) {
directDrive(velocity,0-velocity);
}
void startMode(signed short mode) {
// light up status led
digitalWrite(statusLED, HIGH);
// this instruction starts the OI, roomba must
// always recieve the Start instruction before
// it will acknowladge any other operations
roombaSerial.write(start); // Start the roomba OI
roombaSerial.write(mode);
blinkLED();
}
void blinkLED() {
// blink status LED
digitalWrite(statusLED, HIGH);
delay(100);
digitalWrite(statusLED, LOW);
delay(100);
digitalWrite(statusLED, HIGH);
delay(100);
digitalWrite(statusLED, LOW);
delay(100);
}
void cleaningMotors(signed short motor, signed short pulseWidthModulation) {
// this function takes 2 perameters.
// first is which motor to actuate (primary, secondary, or dump)
// second is for setting the motor rate
// primary -127 to 127
// secondary -127 to 127
// dump 0 to 127
// assign global variables
switch (motor) {
case primary:
mainBrush = pulseWidthModulation; // range from -127 to 127
break;
case secondary:
sideBrush = pulseWidthModulation; // range from -127 to 127
break;
case dump:
vacuum = pulseWidthModulation; // range from 0 to 127
break;
default:
break;
}
// send instructions
roombaSerial.write(144); // OI opcode for PWM Motors
roombaSerial.write((int8_t)mainBrush);
roombaSerial.write((int8_t)sideBrush);
roombaSerial.write((int8_t)vacuum);
}
void interrupt_0() {
// debounce
if((long)(micros() - last_micros) >= debouncing_time * 1000) {
// Do Something
last_micros = micros();
}
// state_0 = !state_0;
digitalWrite(statusLED, HIGH);
delay(50);
digitalWrite(statusLED, LOW);
delay(50);
// action_0 = 0;
// Do Something
//startMode(full);
brushSpeed = 0;
dumpSpeed = 0;
startMode(stop);
//dartCollectorTest();
}
void interrupt_1() {
// debounce
if((long)(micros() - last_micros) >= debouncing_time * 1000) {
// Do Something
last_micros = micros();
}
// state_1 = !state_1;
digitalWrite(statusLED, HIGH);
delay(50);
digitalWrite(statusLED, LOW);
delay(50);
// dartCollectorTest();
startMode(start);
startMode(full);
// dartCollectorTest();
// cleaningMotors(primary, 100);
brushSpeed = lowSpeed;
//dumpSpeed = 127;
dumpSpeed = 0;
// if (action_0 == 0){
// action_0 = 1;
// cleaningMotors(primary, 100);
// }
// else {
// action_0 = 0;
// cleaningMotors(primary, 30);
// }
// if (action_0 < 7){
// action_0++;
// }
// else {
// action_0 = 1;
// }
//startMode(safe);
}
// int checkSensors(byte whichSensor, byte howManyBytes){
//
// int timeOut = 40;
//
// roombaSerial.write(149);
// roombaSerial.write((byte)howManyBytes);
//
// for (int x = 0; x < howManyBytes ; x++) {
//
// roombaSerial.write((byte)whichSensor++);
//
// }
//
// int bufferPos = 0;
//
// while(howManyBytes) {
//
// while (roombaSerial.available() == 0) {
// delayMicroseconds(1);
// }
//
// response[bufferPos++] = roombaSerial.read();
//
// howManyBytes -= 1;
//
// }
//
// }
// byte response[16];
// int checkSensor(byte whichSensor, byte howManyBytes) {
//
// int timeOut = 40;
// int bufferPos = 0;
//
// roombaSerial.write(142);
// roombaSerial.write((byte)whichSensor);
//
// while(howManyBytes and timeOut) {
//
// while (roombaSerial.available() == 0 and timeOut) {
// timeOut -= 1;
// delayMicroseconds(1);
// }
//
// response[bufferPos++] = roombaSerial.read();
//
// howManyBytes -= 1;
//
// }
//
// if (timeOut) {
// return 1;
// }
//
// }
// int checkSensors(byte whichSensor, byte howManyBytes){
//
// int timeOut = 40;
//
// roombaSerial.write(149);
// roombaSerial.write((byte)howManyBytes);
//
// for (int x = 0; x < howManyBytes ; x++) {
//
// roombaSerial.write((byte)whichSensor++);
//
// }
//
// int bufferPos = 0;
//
// while(howManyBytes) {
//
// while (roombaSerial.available() == 0) {
// delayMicroseconds(1);
// }
//
// response[bufferPos++] = roombaSerial.read();
//
// howManyBytes -= 1;
//
// }
//
// }
// void brushMotorCurrentTest_00(){
//
// // int current = word(byte[0], byte[1])
// // short int16 = (short)(((bytes[0] & 0xFF) << 8) | (bytes[1] & 0xFF));
//
// cleaningMotors(primary, 30);
// checkSensors(56, 16);
// /* for (i=0; i=16; i++){
// Serial.println(response[i]);
// } */
// //int16_t s = (int16_t) (((response[0] & 0xFF) << 8) | (response[1] & 0xFF));
// brushCurrent = (((uint16_t)response[0]) << 8) | response[1];
//
// Serial.print("Current: ");
// Serial.println(brushCurrent);
//
// }
int checkSensor(byte whichSensor, byte howManyBytes, byte* response) {
// This function will return the value of a sensor
// The first perameter inidcates the sensor code to querry
// The second paremeter is for keeping track of the number of bytes that the querry will return
// The third paremeter is a pointer, so it can copy the data into the buffer pointed to by that pointer
int timeOut = 40;
int bufferPos = 0;
if(!response) return 0;
roombaSerial.write(142); // instruction to prompt roomba for sensor data
roombaSerial.write((int8_t)whichSensor); // send sensor code to roomba for data querry
for(unsigned bufferPos=0; bufferPos < howManyBytes && timeOut; bufferPos++) { // get the data or timeout
while (roombaSerial.available() == 0 and timeOut) {
timeOut -= 1;
delayMicroseconds(1);
}
response[bufferPos] = roombaSerial.read();
bufferPos += 1;
howManyBytes -= 1;
}
if (timeOut) { // timeout if no response
return 1;
}
}
void brushMotorCurrentTest_00(){
byte response[16];
int incomingByte = 0; // for incoming serial data
int timeOut = 40;
int bufferPos = 0;
byte howManyBytes = 2;
cleaningMotors(primary, 30); // spin the primary motor
roombaSerial.write(142); // ask for sensor data
roombaSerial.write((int8_t)56); // ask for primary motor current, return 2 signed data bytes high byte first, -32768 to 32767 mA
// I think I need to wait until I am sure that data is avliable
while (roombaSerial.available() < 2) {
// delayMicroseconds(1);
}
// if (roombaSerial.available() > 0) {
// // read the incoming byte:
// incomingByte = roombaSerial.read();
// }
response[0] = roombaSerial.read();
response[1] = roombaSerial.read();
Serial.print("Brush Motor Current: \t");
Serial.print((signed int)response[0]);
Serial.print(" ");
Serial.print((signed int)response[1]);
Serial.print("\t - - - check two bytes\n");
delay(2000);
// code I tried that did not work
//
// checkSensor(56, 16, response);
// for (unsigned i=0; i=16; i++){
// //Serial.print(response[i]);
// Serial.print("Now What?");
// }
// Serial.print("\n");
// Serial.print("Now What?");
// for(unsigned bufferPos=0; bufferPos < howManyBytes; bufferPos++) { // get the data
// delayMicroseconds(1);
// response[bufferPos] = roombaSerial.read();
// howManyBytes -= 1;
// }
//send data only when you receive data:
// if (roombaSerial.available() > 0) {
// // read the incoming byte:
// incomingByte = roombaSerial.read();
// }
//Serial.print(roombaSerial.read());
//Serial.print(incomingByte);
}
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