86 lines
2.3 KiB
Arduino
86 lines
2.3 KiB
Arduino
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/*
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Copyright 2014 Daniele Verducci
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This file is part of ArduinoExplorerbotSketch.
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ArduinoExplorerbotSketch is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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ArduinoExplorerbotSketch is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with ArduinoExplorerbotSketch. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* PIN
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* 7 Steering servo yellow cable
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* 3 to H-Bridge ENABLE
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* 9 to H-Bridge logic pin 1
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* 10 to H-Bridge logic pin 2
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*
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* SERIAL (9600)
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* 2 bits: the first is the steering from 1 to 127,
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* the second the acceleration.
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*/
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const int servoPin = 7;
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const int hBridgeEnable = 3;
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const int hBridge1pin = 9;
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const int hBridge2pin = 10;
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#include <Servo.h>
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Servo steeringServo;
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byte gamepadPosition[2];
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void setup(){
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steeringServo.attach(servoPin); //steering servo to pin 7
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pinMode(hBridgeEnable, OUTPUT);
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pinMode(hBridge1pin, OUTPUT);
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pinMode(hBridge2pin, OUTPUT);
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Serial.begin(9600);
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}
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void loop(){
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if(readGamepadPositionFromSerial()){
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steerTo(gamepadPosition[0]);
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accelerateTo(gamepadPosition[1]);
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}
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delay(100);
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}
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boolean readGamepadPositionFromSerial(){
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if(Serial.available()>1){ //Bytes received in pairs
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gamepadPosition[0] = Serial.read();
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gamepadPosition[1] = Serial.read();
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return true;
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}
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return false;
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}
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void steerTo(byte steeringByte){
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steeringServo.write(steeringByte); //Angles from 0° to 127°
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}
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void accelerateTo(byte speedByte){
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if(speedByte<64){
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//Go forward
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digitalWrite(hBridge1pin, HIGH);
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digitalWrite(hBridge2pin, LOW);
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//speedByte = 1/speedByte;
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} else {
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//Go backward
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digitalWrite(hBridge2pin, HIGH);
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digitalWrite(hBridge1pin, LOW);
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//speedByte = speedByte-64;
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}
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//analogWrite(hBridgeEnable, speedByte*2);
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if(speedByte<32 || speedByte>96) digitalWrite(hBridgeEnable, HIGH);
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else digitalWrite(hBridgeEnable, LOW);
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}
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