Difference between revisions of "Project details"

Revision as of 16:38, 24 January 2012

Authors: Soobum Kim and Jack Maseberg

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