remove unused folders
This commit is contained in:
parent
0d33dda103
commit
fe9ff4f27f
|
|
@ -0,0 +1,10 @@
|
||||||
|
{
|
||||||
|
// See http://go.microsoft.com/fwlink/?LinkId=827846
|
||||||
|
// for the documentation about the extensions.json format
|
||||||
|
"recommendations": [
|
||||||
|
"platformio.platformio-ide"
|
||||||
|
],
|
||||||
|
"unwantedRecommendations": [
|
||||||
|
"ms-vscode.cpptools-extension-pack"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
@ -1,535 +0,0 @@
|
||||||
|
|
||||||
|
|
||||||
//from left to right. pins at bottom. chips on top
|
|
||||||
//1 GND (black)
|
|
||||||
//2 Data
|
|
||||||
//3 Clock
|
|
||||||
//4 Reset
|
|
||||||
//5 +5V (red)
|
|
||||||
//6 Right BTN
|
|
||||||
//7 Middle BTN
|
|
||||||
//8 Left BTN
|
|
||||||
|
|
||||||
//Arduino Pro Mini 328P 5V 16MHz
|
|
||||||
//hold power button pressed during flashing
|
|
||||||
|
|
||||||
|
|
||||||
//pinout: https://martin-prochnow.de/projects/thinkpad_keyboard
|
|
||||||
|
|
||||||
//see also https://github.com/feklee/usb-trackpoint/blob/master/code/code.ino
|
|
||||||
|
|
||||||
//#define DEBUG
|
|
||||||
|
|
||||||
#include "Trackpoint.h"
|
|
||||||
|
|
||||||
//Default:
|
|
||||||
/*Trackpoint trackpoint(8, // CLK
|
|
||||||
9, // DATA
|
|
||||||
12); // RESET
|
|
||||||
*/
|
|
||||||
|
|
||||||
/*funktioniert
|
|
||||||
* Trackpoint trackpoint(2, // CLK (rosa)
|
|
||||||
3, // DATA (gelb)
|
|
||||||
4); // RESET (gruen)
|
|
||||||
*/
|
|
||||||
Trackpoint trackpoint(3, // CLK (rosa, TP3)
|
|
||||||
4, // DATA (gelb, TP2)
|
|
||||||
2); // RESET (gruen, TP4)
|
|
||||||
|
|
||||||
#include <SPI.h>
|
|
||||||
#include "nRF24L01.h"
|
|
||||||
#include "RF24.h"
|
|
||||||
#include "printf.h"
|
|
||||||
bool radioOk=false; //true, if sending was successfull. can be false, even if data was send and received
|
|
||||||
|
|
||||||
RF24 radio(9,10); //ce, cs
|
|
||||||
//SCK D13
|
|
||||||
//Miso D12
|
|
||||||
//Mosi D11
|
|
||||||
// Radio pipe addresses for the 2 nodes to communicate.
|
|
||||||
const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL }; //0xF0F0F0F0xxLL, xx is 1-byte address
|
|
||||||
#define NRF24CHANNEL 75
|
|
||||||
|
|
||||||
struct nrfdata {
|
|
||||||
uint8_t steer; //between 0 and 255, 127 is stop. will be scaled to -1000 to 1000
|
|
||||||
uint8_t speed; //between 0 and 255, 127 is stop. will be scaled to -1000 to 1000
|
|
||||||
uint8_t commands; //bit 0 set = motor enable
|
|
||||||
uint8_t checksum;
|
|
||||||
};
|
|
||||||
|
|
||||||
long last_sendNRF=0;
|
|
||||||
#define NRFSEND_DELAY 20 //ms
|
|
||||||
|
|
||||||
#define PIN_TOUCH 5
|
|
||||||
long last_touch=0;
|
|
||||||
#define TOUCH_TIMEOUT 100
|
|
||||||
|
|
||||||
//command variables
|
|
||||||
boolean motorenabled=false;
|
|
||||||
|
|
||||||
#define PIN_LED A1
|
|
||||||
|
|
||||||
#define PIN_BUTTON 6
|
|
||||||
|
|
||||||
#define PIN_POWERON 7
|
|
||||||
|
|
||||||
#define TRACKPOINT_MAX 70 //value for maximum stick movement
|
|
||||||
float speedscale=0.0;
|
|
||||||
float steerscale=0.0;
|
|
||||||
|
|
||||||
int16_t last_xin=0;
|
|
||||||
int16_t last_yin=0;
|
|
||||||
int16_t xin_smooth=0;
|
|
||||||
int16_t yin_smooth=0;
|
|
||||||
int16_t maxacc=0;
|
|
||||||
int16_t maxacc_brake=0;
|
|
||||||
int16_t maxaccsteer=0;
|
|
||||||
int16_t maxaccsteer_brake=0;
|
|
||||||
|
|
||||||
#define SETUP_NONE 0
|
|
||||||
#define SETUP_WAIT 1 //waiting for input
|
|
||||||
#define SETUP_DONE 2 //waiting after input (do not move motors)
|
|
||||||
uint8_t setupmode=SETUP_NONE;
|
|
||||||
long setupmode_waitstarttime=0; //starttime of SETUP_WAIT mode
|
|
||||||
#define SETUP_WAIT_TIMEOUT 10000 //maximum time to wait for input before canceling
|
|
||||||
#define SETUP_HOLD_POWEROFF 2000 //if button held down after x ms in setup mode, power off
|
|
||||||
#define SETUP_DONE_TIME 1000 //time to keep motors disabled after exiting setup
|
|
||||||
#define SETUP_MOVE_THRESHOLD 275 //500*TRACKPOINT_MAX/127
|
|
||||||
uint8_t speedmode=1; //0 (slow), 1(medium), 2(fast)
|
|
||||||
#define SETUP_SPEEDMODE_MAX 2
|
|
||||||
|
|
||||||
uint16_t led_ton=0; //never. time in ms for on time
|
|
||||||
uint16_t led_toff=65535; //always
|
|
||||||
long led_nextswitch=0;
|
|
||||||
|
|
||||||
#define TIME_INACTIVITY_POWEROFF 120000
|
|
||||||
long time_lastactivity=0;
|
|
||||||
#define ACTIVITYMOVEMENT 5//Stick movement for activity recognition
|
|
||||||
|
|
||||||
boolean touching=false;
|
|
||||||
|
|
||||||
int voltage=4000;
|
|
||||||
#define VOLTAGE_WARN 3400
|
|
||||||
/*
|
|
||||||
* 3681=3.725V
|
|
||||||
*/
|
|
||||||
|
|
||||||
void setup() {
|
|
||||||
//Mouse.begin();
|
|
||||||
|
|
||||||
pinMode(PIN_TOUCH, INPUT_PULLUP);
|
|
||||||
pinMode(PIN_LED, OUTPUT);
|
|
||||||
pinMode(PIN_BUTTON, INPUT_PULLUP);
|
|
||||||
pinMode(PIN_POWERON, OUTPUT);
|
|
||||||
digitalWrite(PIN_LED, LOW);
|
|
||||||
|
|
||||||
digitalWrite(PIN_POWERON, HIGH); //keep unit powered on
|
|
||||||
|
|
||||||
|
|
||||||
Serial.begin(115200);
|
|
||||||
printf_begin();
|
|
||||||
Serial.println("Booting");
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
radio.begin();
|
|
||||||
//Serial.print("CRC Length=");
|
|
||||||
//Serial.println(radio.getCRCLength());
|
|
||||||
|
|
||||||
radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
|
|
||||||
//radio.setDataRate( RF24_1MBPS );
|
|
||||||
|
|
||||||
radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
|
|
||||||
|
|
||||||
radio.setRetries(15,15); // optionally, increase the delay between retries & # of retries
|
|
||||||
radio.setPayloadSize(8); // optionally, reduce the payload size. seems to improve reliability
|
|
||||||
|
|
||||||
//radio.openWritingPipe(pipes[0]); //write on pipe 0
|
|
||||||
//radio.openReadingPipe(1,pipes[1]); //read on pipe 1
|
|
||||||
|
|
||||||
radio.openWritingPipe(pipes[1]); //write on pipe 1
|
|
||||||
radio.openReadingPipe(1,pipes[0]); //read on pipe 0
|
|
||||||
|
|
||||||
radio.printDetails();
|
|
||||||
|
|
||||||
radio.startListening();
|
|
||||||
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial.println("Radio initialized");
|
|
||||||
#endif
|
|
||||||
|
|
||||||
trackpoint.reset();
|
|
||||||
trackpoint.setRemoteMode();
|
|
||||||
trackpoint.setSensitivityFactor(0xc0); // more sensitive than by default
|
|
||||||
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial.println("Trackpoint initialized");
|
|
||||||
#endif
|
|
||||||
|
|
||||||
voltage=readVcc();
|
|
||||||
Serial.print("Voltage=");
|
|
||||||
Serial.println( voltage, DEC );
|
|
||||||
|
|
||||||
setup_updateSpeedmode(); //set speeds
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
/*
|
|
||||||
void sendButtonState(byte state) {
|
|
||||||
static const char hidStates[] = {MOUSE_LEFT, MOUSE_RIGHT};
|
|
||||||
|
|
||||||
for (byte i = 0; i < sizeof(hidStates); i++) {
|
|
||||||
byte hidState = hidStates[i];
|
|
||||||
if (state & (1 << i)) {
|
|
||||||
Mouse.press(hidState);
|
|
||||||
} else if (Mouse.isPressed(hidState)) {
|
|
||||||
Mouse.release(hidState);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
*/
|
|
||||||
|
|
||||||
// Reads TrackPoint data and sends data to computer.
|
|
||||||
void loop() {
|
|
||||||
|
|
||||||
|
|
||||||
if (millis()-last_sendNRF >= NRFSEND_DELAY)
|
|
||||||
{
|
|
||||||
voltage=readVcc(); //read own voltage
|
|
||||||
|
|
||||||
last_sendNRF=millis();
|
|
||||||
trackpoint.readData(); //discard last value. otherwise values are scales way too high
|
|
||||||
Trackpoint::DataReport d = trackpoint.readData(); //d.x and d.y between 128 to 255=-1000 to 0, and 0 to 127=0 to +1000
|
|
||||||
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial.print("DataReport: ");
|
|
||||||
Serial.print(d.x);
|
|
||||||
Serial.print(", ");
|
|
||||||
Serial.println(d.y);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
nrfdata senddata;
|
|
||||||
|
|
||||||
//senddata.steer=map(constrain((uint8_t)(d.x+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127+(127*steerscale), 127-(127*steerscale) ); //steer
|
|
||||||
//senddata.speed=map(constrain((uint8_t)(d.y+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127-(127*speedscale), 127+(127*speedscale) ); //speed
|
|
||||||
|
|
||||||
|
|
||||||
//map x and y to -1000 to 1000
|
|
||||||
int16_t xin;
|
|
||||||
if (d.x>=0 && d.x<=127){ //positive range
|
|
||||||
xin=map(constrain((int16_t)d.x,0,TRACKPOINT_MAX) , 0,TRACKPOINT_MAX, 0, 1000 );
|
|
||||||
}else{ //negative range 128(=-1000) to 255(0)
|
|
||||||
xin=map(constrain((int16_t)d.x,127+TRACKPOINT_MAX,255) , 127+TRACKPOINT_MAX,255, -1000, 0 );
|
|
||||||
}
|
|
||||||
int16_t yin;
|
|
||||||
if (d.y>=0 && d.y<=127){ //positive range
|
|
||||||
yin=map(constrain((float)d.y,0,TRACKPOINT_MAX) , 0,TRACKPOINT_MAX, 0, 1000 );
|
|
||||||
}else{ //negative range 128(=-1000) to 255(0)
|
|
||||||
yin=map(constrain((float)d.y,127+TRACKPOINT_MAX,255) , 127+TRACKPOINT_MAX,255, -1000, 0 );
|
|
||||||
}
|
|
||||||
|
|
||||||
last_xin=xin; //save position values for other stuff than control
|
|
||||||
last_yin=yin;
|
|
||||||
|
|
||||||
if (abs(xin)>ACTIVITYMOVEMENT){
|
|
||||||
time_lastactivity=millis(); //reset activity timeout
|
|
||||||
}else if (abs(yin)>ACTIVITYMOVEMENT){
|
|
||||||
time_lastactivity=millis(); //reset activity timeout
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
float r=sqrt((xin*xin) + (yin*yin));
|
|
||||||
float phi=atan2(yin,xin); // arc tangent of y/x. 0 is right
|
|
||||||
|
|
||||||
Serial.print(xin,0);
|
|
||||||
Serial.print(", ");
|
|
||||||
Serial.print(yin,0);
|
|
||||||
Serial.print(": ");
|
|
||||||
Serial.print(r,0);
|
|
||||||
Serial.print(", ");
|
|
||||||
Serial.println(phi,4);*/
|
|
||||||
|
|
||||||
|
|
||||||
//xin_smooth=smoothfilter*xin_smooth + (1-smoothfilter)*xin;
|
|
||||||
//yin_smooth=smoothfilter*yin_smooth + (1-smoothfilter)*yin;
|
|
||||||
if (maxaccsteer>0){
|
|
||||||
// ### X ###
|
|
||||||
int16_t _xaccel=xin_smooth-xin;
|
|
||||||
if ((xin_smooth>0 && xin<-2) || (xin_smooth<0 && xin>2) ){ //if actively braking
|
|
||||||
if (_xaccel<-maxaccsteer_brake){ //limit deceleration
|
|
||||||
_xaccel=-maxaccsteer_brake;
|
|
||||||
}else if (_xaccel>maxaccsteer_brake){
|
|
||||||
_xaccel=maxaccsteer_brake;
|
|
||||||
}
|
|
||||||
}else{ //not braking
|
|
||||||
if (_xaccel<-maxaccsteer){ //limit acceleration
|
|
||||||
_xaccel=-maxaccsteer;
|
|
||||||
}else if (_xaccel>maxaccsteer){
|
|
||||||
_xaccel=maxaccsteer;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
xin_smooth-=_xaccel; //update value
|
|
||||||
|
|
||||||
}else{ //no acc limit
|
|
||||||
xin_smooth=xin; //update immediately
|
|
||||||
}
|
|
||||||
if (maxacc>0){
|
|
||||||
// ### Y ###
|
|
||||||
int16_t _yaccel=yin_smooth-yin;
|
|
||||||
if ((yin_smooth>0 && yin<-2) || (yin_smooth<0 && yin>2) ){ //if actively braking
|
|
||||||
if (_yaccel<-maxacc_brake){ //limit deceleration
|
|
||||||
_yaccel=-maxacc_brake;
|
|
||||||
}else if (_yaccel>maxacc_brake){
|
|
||||||
_yaccel=maxacc_brake;
|
|
||||||
}
|
|
||||||
}else{ //not braking
|
|
||||||
if (_yaccel<-maxacc){ //limit acceleration
|
|
||||||
_yaccel=-maxacc;
|
|
||||||
}else if (_yaccel>maxacc){
|
|
||||||
_yaccel=maxacc;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
yin_smooth-=_yaccel; //update value
|
|
||||||
}else{ //no acc limit
|
|
||||||
yin_smooth=yin;
|
|
||||||
}
|
|
||||||
|
|
||||||
senddata.steer=map(xin_smooth, -1000,1000, 127+(128*steerscale), 127-(127*steerscale) ); //steer
|
|
||||||
senddata.speed=map(yin_smooth, -1000,1000, 127-(127*speedscale), 127+(128*speedscale) ); //speed
|
|
||||||
|
|
||||||
senddata.commands=0; //reset
|
|
||||||
|
|
||||||
if (!radioOk || setupmode!=SETUP_NONE){ //if last transmission failed or in setup mode
|
|
||||||
//senddata.steer=127; //stop
|
|
||||||
//senddata.speed=127;
|
|
||||||
senddata.commands|= 0 << 0; //motorenabled send false
|
|
||||||
xin_smooth=0; //reset smooth value
|
|
||||||
yin_smooth=0;
|
|
||||||
}else{
|
|
||||||
senddata.commands|= motorenabled << 0; //motorenabled is bit 0
|
|
||||||
}
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial.print(senddata.steer);
|
|
||||||
Serial.print(", ");
|
|
||||||
Serial.println(senddata.speed);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
senddata.checksum=(uint8_t)((senddata.steer+3)*(senddata.speed+13));
|
|
||||||
sendRF(senddata);
|
|
||||||
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial.println( readVcc(), DEC );
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
if(!digitalRead(PIN_TOUCH)){ //check touch
|
|
||||||
last_touch=millis();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
if(millis()-last_touch <= TOUCH_TIMEOUT){ //is touched
|
|
||||||
if (!touching && setupmode!=SETUP_DONE) { //was false, is touching again (and not during setup_done wait)
|
|
||||||
Serial.println("touching was false");
|
|
||||||
if (last_xin==0 && last_yin==0) { //stick at center position
|
|
||||||
touching=true; //enable only if stick is at center again
|
|
||||||
motorenabled=true;
|
|
||||||
Serial.println("touching reactivated");
|
|
||||||
}
|
|
||||||
}else{
|
|
||||||
motorenabled=true;
|
|
||||||
}
|
|
||||||
}else{
|
|
||||||
touching=false;
|
|
||||||
motorenabled=false;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (!digitalRead(PIN_BUTTON) && setupmode==SETUP_NONE){ //Button pressed, and not in setup mode
|
|
||||||
setupmode=SETUP_WAIT;
|
|
||||||
setupmode_waitstarttime=millis();
|
|
||||||
Serial.println("Entering Setup");
|
|
||||||
//digitalWrite(PIN_POWERON, LOW); //Power off
|
|
||||||
}
|
|
||||||
|
|
||||||
//inactivity poweroff
|
|
||||||
if (millis()>time_lastactivity+TIME_INACTIVITY_POWEROFF){
|
|
||||||
Serial.println("Inactivity Poweroff");
|
|
||||||
delay(100);
|
|
||||||
digitalWrite(PIN_POWERON, LOW); //Power off
|
|
||||||
}
|
|
||||||
|
|
||||||
switch(setupmode){
|
|
||||||
case SETUP_WAIT:
|
|
||||||
if (millis()>setupmode_waitstarttime+SETUP_WAIT_TIMEOUT){ //waittime over
|
|
||||||
setupmode=SETUP_NONE; //exit setup
|
|
||||||
}else if(last_yin > SETUP_MOVE_THRESHOLD){ //y moved up
|
|
||||||
Serial.print("Moved Up");
|
|
||||||
if (speedmode<SETUP_SPEEDMODE_MAX){ //if not already at maximum
|
|
||||||
speedmode+=1;
|
|
||||||
}
|
|
||||||
setup_updateSpeedmode();
|
|
||||||
setupmode=SETUP_DONE; //exit setupmode
|
|
||||||
setupmode_waitstarttime=millis(); //use this value for done timer
|
|
||||||
}else if(last_yin < -SETUP_MOVE_THRESHOLD){ //y moved down
|
|
||||||
Serial.print("Moved Down");
|
|
||||||
if (speedmode>0){ //if not already at minimum
|
|
||||||
speedmode-=1;
|
|
||||||
}
|
|
||||||
setup_updateSpeedmode();
|
|
||||||
setupmode=SETUP_DONE; //exit setupmode
|
|
||||||
setupmode_waitstarttime=millis();//use this value for done timer
|
|
||||||
}else if(last_xin < -SETUP_MOVE_THRESHOLD){ //y moved left
|
|
||||||
Serial.print("Moved Left");
|
|
||||||
maxacc=20; //the higher the snappier
|
|
||||||
maxacc_brake=30;
|
|
||||||
maxaccsteer=30;
|
|
||||||
maxaccsteer_brake=70;
|
|
||||||
setupmode=SETUP_DONE; //exit setupmode
|
|
||||||
setupmode_waitstarttime=millis();//use this value for done timer
|
|
||||||
}else if(last_xin > SETUP_MOVE_THRESHOLD){ //y moved right
|
|
||||||
Serial.print("Moved Right");
|
|
||||||
maxacc=0;
|
|
||||||
maxacc_brake=0;
|
|
||||||
maxaccsteer=0;
|
|
||||||
maxaccsteer_brake=0;
|
|
||||||
setupmode=SETUP_DONE; //exit setupmode
|
|
||||||
setupmode_waitstarttime=millis();//use this value for done timer
|
|
||||||
}else if (millis()>setupmode_waitstarttime+SETUP_HOLD_POWEROFF && !digitalRead(PIN_BUTTON)){ //if button held down after SETUP_HOLD_POWEROFF
|
|
||||||
Serial.println("Manual Power Off");
|
|
||||||
delay(100);
|
|
||||||
digitalWrite(PIN_POWERON, LOW); //Power off
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
if (!touching){ //remote got put away (not touch)
|
|
||||||
Serial.println("Poweroff");
|
|
||||||
delay(100);
|
|
||||||
digitalWrite(PIN_POWERON, LOW); //Power off
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case SETUP_DONE:
|
|
||||||
touching=false;
|
|
||||||
motorenabled=false;
|
|
||||||
Serial.println("touching set false");
|
|
||||||
if (millis()>setupmode_waitstarttime+SETUP_DONE_TIME){
|
|
||||||
setupmode=SETUP_NONE; //return to control mode, allows enabling motors
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
//LED Blink Codes
|
|
||||||
switch(setupmode){
|
|
||||||
case SETUP_NONE:
|
|
||||||
if (radioOk){
|
|
||||||
if (touching){ //=touching
|
|
||||||
led_ton=500; //always on
|
|
||||||
led_toff=0;
|
|
||||||
}else{
|
|
||||||
led_ton=1000; //blink slowly regulary
|
|
||||||
led_toff=1000;
|
|
||||||
}
|
|
||||||
}else{ //not connected
|
|
||||||
if (touching){ //=touching
|
|
||||||
led_ton=5; //short flash
|
|
||||||
led_toff=200;
|
|
||||||
}else{
|
|
||||||
led_ton=0; //off
|
|
||||||
led_toff=500;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (voltage<=VOLTAGE_WARN){
|
|
||||||
led_ton=25; //flash on fast
|
|
||||||
led_toff=75;
|
|
||||||
}
|
|
||||||
|
|
||||||
break;
|
|
||||||
case SETUP_WAIT:
|
|
||||||
led_ton=200; //blink fast
|
|
||||||
led_toff=200;
|
|
||||||
break;
|
|
||||||
case SETUP_DONE:
|
|
||||||
led_ton=20; //blink fast
|
|
||||||
led_toff=20;
|
|
||||||
break;
|
|
||||||
|
|
||||||
}
|
|
||||||
if (millis()>=led_nextswitch){ //Set LED State by timings
|
|
||||||
if (digitalRead(PIN_LED)){ //led was on
|
|
||||||
if (led_toff>0){
|
|
||||||
digitalWrite(PIN_LED, LOW); //led off
|
|
||||||
}
|
|
||||||
led_nextswitch=millis()+led_toff;
|
|
||||||
}else{
|
|
||||||
if (led_ton>0){
|
|
||||||
digitalWrite(PIN_LED, HIGH); //led on
|
|
||||||
}
|
|
||||||
led_nextswitch=millis()+led_ton;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void sendRF(nrfdata senddata){
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial.println("Transmitting...");
|
|
||||||
#endif
|
|
||||||
|
|
||||||
radio.stopListening(); //stop listening to be able to transmit
|
|
||||||
radioOk = radio.write( &senddata, sizeof(nrfdata) );
|
|
||||||
if (radioOk){
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial.println("ok");
|
|
||||||
#endif
|
|
||||||
|
|
||||||
}else{
|
|
||||||
#ifdef DEBUG
|
|
||||||
Serial.println("failed");
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
radio.startListening();
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
long readVcc() {
|
|
||||||
long result; // Read 1.1V reference against AVcc
|
|
||||||
ADMUX = _BV(REFS0) | _BV(MUX3) | _BV(MUX2) | _BV(MUX1);
|
|
||||||
delay(2); // Wait for Vref to settle
|
|
||||||
ADCSRA |= _BV(ADSC); // Convert
|
|
||||||
while (bit_is_set(ADCSRA,ADSC));
|
|
||||||
result = ADCL;
|
|
||||||
result |= ADCH<<8;
|
|
||||||
result = 1126400L / result; // Back-calculate AVcc in mV
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
void setup_updateSpeedmode(){
|
|
||||||
switch(speedmode){
|
|
||||||
case 0: //slow
|
|
||||||
speedscale=0.15;
|
|
||||||
steerscale=0.2;
|
|
||||||
break;
|
|
||||||
case 1: //medium
|
|
||||||
speedscale=0.4;
|
|
||||||
steerscale=0.45;
|
|
||||||
break;
|
|
||||||
case 2: //fast
|
|
||||||
speedscale=1.0;
|
|
||||||
steerscale=0.8;
|
|
||||||
break;
|
|
||||||
default:
|
|
||||||
speedscale=0.1;
|
|
||||||
steerscale=0.1;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
@ -1,37 +0,0 @@
|
||||||
/*
|
|
||||||
Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
|
|
||||||
|
|
||||||
This program is free software; you can redistribute it and/or
|
|
||||||
modify it under the terms of the GNU General Public License
|
|
||||||
version 2 as published by the Free Software Foundation.
|
|
||||||
*/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @file printf.h
|
|
||||||
*
|
|
||||||
* Setup necessary to direct stdout to the Arduino Serial library, which
|
|
||||||
* enables 'printf'
|
|
||||||
*/
|
|
||||||
|
|
||||||
#ifndef __PRINTF_H__
|
|
||||||
#define __PRINTF_H__
|
|
||||||
|
|
||||||
#ifdef ARDUINO
|
|
||||||
|
|
||||||
int serial_putc( char c, FILE * )
|
|
||||||
{
|
|
||||||
Serial.write( c );
|
|
||||||
|
|
||||||
return c;
|
|
||||||
}
|
|
||||||
|
|
||||||
void printf_begin(void)
|
|
||||||
{
|
|
||||||
fdevopen( &serial_putc, 0 );
|
|
||||||
}
|
|
||||||
|
|
||||||
#else
|
|
||||||
#error This example is only for use on Arduino.
|
|
||||||
#endif // ARDUINO
|
|
||||||
|
|
||||||
#endif // __PRINTF_H__
|
|
||||||
Loading…
Reference in New Issue