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| | Authors: Soobum Kim and Jack Maseberg | | Authors: Soobum Kim and Jack Maseberg |
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| − | Here is my recent arduino code for our robot.
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| − | <nowiki>
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| − | /*
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| − | prototype_unified_test
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| − | */
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| − | #include <Wire.h>
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| − | char val; // variable to receive data from the serial port
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| − | int ledpin = 13; // LED connected to pin 13 (on-board LED)
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| − | int HMC6352SlaveAddress = 0x42;
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| − | int HMC6352ReadAddress = 0x41; //"A" in hex, A command is:
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| − | int headingValue;
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| − | const int LMDir = 12; // Left motor direction
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| − | const int RMDir = 13; // Right motor direction
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| − | const int LMSpeed = 9; // PWM for Left motor connected to digital pin 9
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| − | const int RMSpeed = 10; // PWM for Right motor connected to digital pin 10
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| − | void setup()
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| − | {
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| − | pinMode(2, OUTPUT);
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| − | pinMode(ledpin = 13, OUTPUT); // pin 13 (on-board LED) as OUTPUT
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| − | TCCR1B = TCCR1B & 0b11111000 | 0x01; //set PWM freq to 31250 Hz on pins 9 and 10
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| − | pinMode(12, OUTPUT); // sets the pin as output
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| − | pinMode(13, OUTPUT); // sets the pin as output
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| − | pinMode(LMSpeed, OUTPUT); // sets the pin as output
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| − | pinMode(RMSpeed, OUTPUT); // sets the pin as output
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| − | // "The Wire library uses 7 bit addresses throughout.
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| − | //If you have a datasheet or sample code that uses 8 bit address,
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| − | //you'll want to drop the low bit (i.e. shift the value one bit to the right),
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| − | //yielding an address between 0 and 127."
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| − | HMC6352SlaveAddress = HMC6352SlaveAddress >> 1; // I know 0x42 is less than 127, but this is still required
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| − | Wire.begin();
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| − | Serial.begin(115200); // start serial communication at 115200bps
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| − | }
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| − | void loop() {
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| − | digitalWrite(2, LOW);
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| − | if( Serial.available() ) // if data is available to read
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| − | {;}
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| − | val = Serial.read(); // read it and store it in 'val'
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| − | if( val == '0' ) // if '0' was received led 13 is switched off
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| − | {
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| − | digitalWrite(ledpin, LOW); // turn Off pin 13 off
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| − | delay(200); // waits for a second
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| − | Serial.println("13 off");
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| − | }
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| − | if( val == '1' ) // if '1' was received led 13 on
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| − |
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| − | {
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| − | Serial.println("13 on");
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| − | digitalWrite(13, HIGH); // set the LED on
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| − | delay(200); // wait for a second
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| − | }
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| − | if(val == 'f' )
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| − | {
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| − | Serial.println("Motor Forward");
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| − | digitalWrite(LMDir, LOW); // digital write to set direction (LOW or HIGH)
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| − | digitalWrite(RMDir, LOW); // digital write to set direction (LOW or HIGH)
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| − | analogWrite(LMSpeed, 200); // analogWrite values from 0 to 255 correspond to 0% and 100% duty cycle
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| − | analogWrite(RMSpeed, 200); // analogWrite values from 0 to 255 correspond to 0% and 100% duty cycle
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| − | delay(10);
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| − | }
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| − | if(val == 'b' )
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| − | {
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| − | Serial.println("Motor Backward");
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| − | digitalWrite(LMDir, HIGH); // digital write to set direction (LOW or HIGH)
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| − | digitalWrite(RMDir, HIGH); // digital write to set direction (LOW or HIGH)
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| − | analogWrite(LMSpeed, 200); // analogWrite values from 0 to 255 correspond to 0% and 100% duty cycle
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| − | analogWrite(RMSpeed, 200); // analogWrite values from 0 to 255 correspond to 0% and 100% duty cycle
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| − | delay(10);
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| − | }
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| − | if(val == 's' )
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| − | {
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| − | Serial.println("Motor Stop");
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| − | digitalWrite(LMDir, LOW); // digital write to set direction (LOW or HIGH)
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| − | digitalWrite(RMDir, LOW); // digital write to set direction (LOW or HIGH)
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| − | analogWrite(LMSpeed, 0); // analogWrite values from 0 to 255 correspond to 0% and 100% duty cycle
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| − | analogWrite(RMSpeed, 0); // analogWrite values from 0 to 255 correspond to 0% and 100% duty cycle
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| − | delay(10);
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| − | }
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| − | if(val == 'r')
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| − | {
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| − | Serial.println("Motor Rotation Right");
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| − | digitalWrite(LMDir, HIGH); // digital write to set direction (LOW or HIGH)
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| − | digitalWrite(RMDir, LOW); // digital write to set direction (LOW or HIGH)
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| − | analogWrite(LMSpeed, 200); // analogWrite values from 0 to 255 correspond to 0% and 100% duty cycle
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| − | analogWrite(RMSpeed, 200); // analogWrite values from 0 to 255 correspond to 0% and 100% duty cycle
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| − | delay(10);
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| − | }
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| − | if(val == 'l')
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| − | {
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| − | Serial.println("Motor Rotation Left");
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| − | digitalWrite(LMDir, LOW); // digital write to set direction (LOW or HIGH)
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| − | digitalWrite(RMDir, HIGH); // digital write to set direction (LOW or HIGH)
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| − | analogWrite(LMSpeed, 200); // analogWrite values from 0 to 255 correspond to 0% and 100% duty cycle
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| − | analogWrite(RMSpeed, 200); // analogWrite values from 0 to 255 correspond to 0% and 100% duty cycle
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| − | delay(10);
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| − | }
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| − | //"Get Data. Compensate and Calculate New Heading"
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| − | Wire.beginTransmission(HMC6352SlaveAddress);
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| − | Wire.write(HMC6352ReadAddress); // The "Get Data" command
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| − | Wire.endTransmission();
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| − |
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| − | //time delays required by HMC6352 upon receipt of the command
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| − | //Get Data. Compensate and Calculate New Heading : 6ms
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| − | delay(6);
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| − | Wire.requestFrom(HMC6352SlaveAddress, 2); //get the two data bytes, MSB and LSB
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| − |
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| − | //"The heading output data will be the value in tenths of degrees
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| − | //from zero to 3599 and provided in binary format over the two bytes."
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| − | byte MSB = Wire.read();
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| − | byte LSB = Wire.read();
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| − | float headingSum = (MSB << 8) + LSB; //(MSB / LSB sum)
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| − | float headingInt = headingSum / 10;
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| − | Serial.print(headingInt);
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| − | Serial.println(" degrees");
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| − | delay(100);
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| − | }
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| − | </nowiki>
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