The file that is currently on an Arduino Uno with a serial number of 64932343738351217080

Command.cpp

/*
 Copyright (c) 2011 Guy Carpenter
 */

#include <Arduino.h>
#include "Command.h"

#define CMDBUF_LEN 40


void Command::skipWhitespace(char **line, int *len)
{
  while (*len > 0 && **line == ' ') {
    (*len)--;
    (*line)++;
  }
}


boolean Command::parseCommand(char **line, int *len, char *cmd)
{
  boolean result = false;
  skipWhitespace(line, len);
  if (*len > 0) {
    *cmd = **line;
    (*len)--;
    (*line)++;
    result = true;
  }
  return result;
}


boolean Command::parseInteger(char **line, int *len, value_t *value)
{
  boolean result = false;
  *value = 0;
  while (*len>0 && **line>='0' && **line<='9') {
    *value = *value * 10 + (**line - '0');
    (*len)--;
    (*line)++;
    result = true;
  }
  return result;
}

boolean Command::parseTuple(char **line, int *len, value_t *tuple)
{
  boolean result = false;
  skipWhitespace(line, len);
  for (int i=0; i<COMMAND_TUPLE_LEN; i++) {
    if (parseInteger(line, len, tuple+i+1)) {
      result = true;
      tuple[0] = i+1;
      if (*len>0 && **line == ',') {
        // found comma, so more integers expected
        (*len)--;
        (*line)++;
        result = false;  // need another int to succeed
      } 
      else {
        break;
      }
    } 
    else {
      break;
    }
  }        
  return result;
}

boolean Command::parseLine(char *line, int len)
{
  boolean result = false;
  if (parseCommand(&line, &len, &command) &&
    parseTuple(&line, &len, address) &&
    parseTuple(&line, &len, value)) {
    result = true;
  } 
  else {
    Serial.println("$Error Invalid command syntax");
  }
  return result;
}


boolean Command::parseInput()
{
  boolean result = false;
  static char line[CMDBUF_LEN];  // NOT zero terminated
  static int len = 0;

  if (Serial.available()) {
    char c = Serial.read();
    if (c==10 || c==13) {
      result = parseLine(line, len);
      len = 0;
    } 
    else if (len < CMDBUF_LEN) {
      line[len++] = c;
    }
    return result;
  }
}

void Command::dump()
{
  Serial.print(command);
  Serial.print(" ");
  for (int i=0;i<address[0];i++) {
    if (i>0) Serial.print(",");
    Serial.print(address[i+1]);
  }
  Serial.print(" ");
  for (int i=0;i<value[0];i++) {
    if (i>0) Serial.print(",");
    Serial.print(value[i+1]);
  }
  Serial.println();
}

Command.h

#ifndef Command_h
#define Command_h
#include <Arduino.h>

#define COMMAND_TUPLE_LEN 3
typedef unsigned int value_t;

class Command
{
  public:
    char command;
    value_t address[COMMAND_TUPLE_LEN+1];
    value_t value[COMMAND_TUPLE_LEN+1];
  
  private:
    void skipWhitespace(char**, int*);
    boolean parseCommand(char **line, int *len, char *cmd);
    boolean parseInteger(char **line, int *len, value_t *value);
    boolean parseTuple(char **line, int *len, value_t *tuple);
    boolean parseLine(char *line, int len);
  public:
    boolean parseInput();
    void dump();
};

#endif

gaugette.ino

#include <SwitecX25.h>

#include "Command.h"
#include "RotaryEncoder.h"
#include "IntRotaryEncoder.h"
#include "LED.h"
#include "Switch.h"

/////////////////////////////////////
//  0  RX
//  1  TX
//  2       INT
//  3  PWM  INT
//  4
//  5  PWM
//  6  PWM
//  7
//
//  8
//  9  PWM
// 10  PWM
// 11  PWM
// 12
// 13
/////////////////////////////////////

Command cmd;

// 6 steps per rotation, so 60 degrees per step of motor
// 180:1 gear ration
// 1/3 degree per step of needle
// 315 degrees full-scale-deflection of needle

// limit to 232 degrees sweep for square thermo dials
// at 3 steps per degree is 696 steps
#define MOTOR_STEPS (696)
SwitecX25 motors[] =  {
  SwitecX25(MOTOR_STEPS, 4,5,6,7),
  SwitecX25(MOTOR_STEPS, 8,9,11,12)
};
const unsigned int motorCount = sizeof(motors)/sizeof(*motors);

//RotaryEncoder encoder(2,3);
//IntRotaryEncoder encoder;

LED leds[] = {LED(3), LED(10)};
const unsigned int ledCount = sizeof(leds)/sizeof(*leds);

Switch switch1(A1);
Switch switch2(A0);
boolean active = true;

void setup(void) {
  Serial.begin(9600);
  Serial.print(motorCount);
  Serial.print(" motors. ");    
  Serial.println("Go!");
  
  // excercise the code to override the acceleration table.
  static unsigned short accelTable[][2] = {
    {   20, 3000},
    {  100, 1000},
    {  300,  600}
  };
  motors[1].accelTable = accelTable;
  motors[1].maxVel = accelTable[3-1][0];

  leds[0].speed = 0;
  leds[1].speed = 1;

}

void loop(void) {
  /*
  {
    static int n = 0;
    int delta = encoder.read();
    if (delta!=0) {
      n += delta;
      Serial.print(delta);
      Serial.print(" ");
      Serial.println(n);
    }
    int pos = motors[1].targetStep + delta;
    if (pos<0) pos=motors[1].steps-1;
    if (pos>=motors[1].steps) pos=0;
    motors[1].setPosition(pos);
  }
  */
  
  // switch1 on turns on light
  if (switch1.changed()) {
    Serial.print("switch1 ");
    Serial.println(switch1.set ? "on" : "off");
    for (int i=0;i<ledCount;i++) {
      leds[i].set(switch1.set ? 100 : 0);
    }
  }
  
  // switch2 on turns everything off
  if (switch2.changed()) {
    Serial.print("switch2 ");
    Serial.println(switch2.set ? "on" : "off");
    active = !switch2.set;
    motors[0].setPosition(0);
    motors[1].setPosition(0);
  }
  
  
  
  motors[0].update();
  motors[1].update();
  leds[0].update();
  leds[1].update();
  if (cmd.parseInput()) {
    //cmd.dump();
    if (cmd.address[1]<motorCount) {
      SwitecX25 *motor = motors+cmd.address[1];
      switch (cmd.command) {
        case 'z':
          motor->zero();        
          break;
        case 's':
          if (active) motor->setPosition(cmd.value[1]);
          break;
        case 'r':
          // r <n> <steps> set motor range
          motor->steps = cmd.value[1];
          break;
        case 'l':
          LED *led = leds + cmd.address[1];
          led->set(cmd.value[1]);
          break;
      }
    }
  }
}

IntRotaryEncoder.cpp

#include <Arduino.h>
#include "IntRotaryEncoder.h"


// interrupt 0 services pin 3
#define INT0 0
#define PIN0 2

// interrupt 1 services pin 4
#define INT1 1
#define PIN1 3

volatile int _pos1 = 0;
volatile int _pos2 = 0;
volatile int _lastPosition = 0;

// use separate counts because we handle two interrupts here
// and it appears they can overlap.

static void intRotaryEncoderISR()
{
  static byte lastData = 0x3;
  byte data = (PIND >> 2) & 0x3; // pin3 and pin2 data
  byte trigger = (lastData ^ data);
  lastData = data;
  
  if (trigger == 0x1) { // pin0 changed
    _pos1 += ((data & 1) ^ data>>1) ? 1 : -1;
  } else if (trigger == 0x2) { // pin1 changed
    _pos2 += ((data & 1) ^ data>>1) ? -1 : 1;  
  }
}
  

IntRotaryEncoder::IntRotaryEncoder()
{
  pinMode(PIN0, INPUT);
  digitalWrite(PIN0, HIGH);  // enable internal pull-up resistors to avoid floating inputs

  pinMode(PIN1, INPUT);
  digitalWrite(PIN1, HIGH);  // enable internal pull-up resistors to avoid floating inputs

  attachInterrupt(INT0, intRotaryEncoderISR, CHANGE);
  attachInterrupt(INT1, intRotaryEncoderISR, CHANGE);  
}

int IntRotaryEncoder::read()
{
  int position = _pos1 + _pos2;
  int delta = position - _lastPosition;
  _lastPosition = position;
  return delta;
}

IntRotaryEncoder.h

#ifndef _IntRotaryEncoder_h_
#define _IntRotaryEncoder_h_

// Since the standard arduino only has interrupts for pins 2 and 3
// the rotary encoder MUST be attached to those two pins.

class IntRotaryEncoder
{
  public: 
    IntRotaryEncoder();
    int read();  // returns signed delta
};

#endif

LED.cpp

#include <Arduino.h>
#include "LED.h"

LED::LED(unsigned char pin)
{
  this->pin = pin;
  this->target = 0;
  this->value = 0;
  this->speed = 0;  // instant
  pinMode(pin, OUTPUT);
  analogWrite(pin, 0);
}

void LED::set(unsigned char value)
{
  if (this->speed==0) {
    this->value = this->target = value;
    analogWrite(pin, this->value);
  } else {
    this->target = value;
  }
}

void LED::update()
{
  if (this->value != this->target) {
     if (this->value < this->target) {
       unsigned char delta = this->target-this->value;
       if (delta > this->speed) delta = this->speed;
       this->value+=delta;
     } else {
       unsigned char delta = this->value-this->target;
       if (delta > this->speed) delta = this->speed;
       this->value-=delta;
     }
     Serial.println(this->value);
     analogWrite(pin, this->value);
  }
}

LED.h

#ifndef LED_h
#define LED_h

class LED
{
  public:
  unsigned char pin;
  unsigned char target;
  unsigned char value;
  unsigned char speed;
  LED(unsigned char pin);
  void set(unsigned char value);
  void update();
};

#endif

RotaryEncoder.cpp

#include <Arduino.h>
#include "RotaryEncoder.h"

RotaryEncoder::RotaryEncoder(unsigned char pin1, unsigned char pin2)
{
  this->pin1 = pin1;
  this->pin2 = pin2;
  pinMode(pin1, INPUT);
  digitalWrite(pin1, HIGH);  // enable internal pull-up resistors to avoid floating inputs
  pinMode(pin2, INPUT);
  digitalWrite(pin2, HIGH);
}

int RotaryEncoder::read()
{
  int delta = 0;
  static unsigned char lastData = 0;
  unsigned char data = (PIND >> 2) & 0x3;
  unsigned char change = data ^ lastData;
  
  if (change & 0x1) { // pin0 changed
    delta += ((data & 1) ^ data>>1) ? +1 : -1;
  } else if (change & 0x2) { // pin1 changed
    delta += ((data & 1) ^ data>>1) ? -1 : +1;    
  }
  lastData = data;
  return delta;
} 

RotaryEncoder.h

#ifndef RotaryEncoder_h
#define RotaryEncoder_h

// Sequence moving forward:
// 1 1  << stable state
//
// 1 1  << moving forward
// 1 0
// 0 0
// 0 1
// 1 1
//
// 1 1  << moving backwards
// 0 1
// 0 0
// 1 0
// 1 1
//
// FWD: 3 1 0 2 3
// was 0 now 1 : fwd
// was 1 now 3 : fwd
// was 2 now 0 : fwd
// was 3 now 2 : fwd
// 
// REV: 3 2 0 1 3
// was 0 now 2 : rev
// was 1 now 0 : rev
// was 2 now 3 : rev
// was 3 now 1 : rev
//
// 


class RotaryEncoder
{
  public:
    unsigned char pin1;
    unsigned char pin2;
  
    RotaryEncoder(unsigned char pin1, unsigned char pin2);
    int read();
};

#endif

Switch.cpp

#include <Arduino.h>
#include "Switch.h"

Switch::Switch(unsigned char pin)
{
  this->pin = pin;
  this->set = false;
  pinMode(pin, INPUT);           // set pin to input
  digitalWrite(pin, HIGH);       // turn on pullup resistors
}

boolean Switch::isSet()
{
  return 0==digitalRead(this->pin);
}

// if changed returns true, check sw.set for new value
boolean Switch::changed()
{
  boolean wasSet = this->set;
  this->set = this->isSet();
  return (this->set != wasSet);
}

Switch.h

#ifndef Switch_h
#define Switch_h

class Switch
{
  public:
  unsigned char pin;
  boolean set;
  Switch(unsigned char pin);
  boolean isSet();
  boolean changed();
};

#endif