translation of screen

diff --git a/ArduinoScreen/ArduinoScreen.ino b/ArduinoScreen/ArduinoScreen.ino
new file mode 100644 (file)
index 0000000..13c4f35
--- /dev/null
+++ b/ArduinoScreen/ArduinoScreen.ino
@@ -0,0 +1,84 @@
+
+//Motors
+const int limitleftpin  = 3;
+const int limitrightpin = 2;
+const int motorpin1     = 5;
+const int motorpin2     = 4;
+const int motorsenable  = 6;
+
+//Servo motor
+const int servopin     = 7;
+
+//buffer stuff
+char command = 0;
+int value = 0;
+#define POSITIVE 0
+#define NEGATIVE 1
+int sign = POSITIVE;
+
+
+void eval(int command, int value)
+{
+  switch(command)
+  {
+    case 'I':
+      Serial.print(F("LivingScreen\0\n"));
+      Serial.flush();
+      break;
+    case 'T':
+      Serial.print("Translate ");
+      Serial.println(value);
+      translate(value);
+      break;
+    case 'R':
+      Serial.print("Rotate ");
+      Serial.println(value);
+      rotate(value);
+      break;
+  }
+}
+
+
+void setup()
+{
+  //Motors
+  init_motors();
+
+  //Communication
+  Serial.begin(9600);
+}
+
+void loop()
+{
+
+  char c;
+  //read in characters if we got them.
+  if (Serial.available() > 0)
+  {
+    c = Serial.read();
+    
+    if (c == '\n' || c == '\r')
+    {
+      if (command)
+      {
+        if (sign == NEGATIVE)
+          value = -value;
+        eval(command, value);
+        command = 0;
+        value = 0;
+        sign = POSITIVE;
+      }
+    }
+    else if (!command)
+      command = c;
+    else if (c == '-')
+      sign = NEGATIVE;
+    else if (c >= '0' && c <= '9')
+      value = value * 10 + (c - '0');
+  }
+  else
+    delayMicroseconds(100);
+}
+
+
+

diff --git a/ArduinoScreen/motorcontrol.ino b/ArduinoScreen/motorcontrol.ino
new file mode 100644 (file)
index 0000000..7b86200
--- /dev/null
+++ b/ArduinoScreen/motorcontrol.ino
@@ -0,0 +1,90 @@
+#include <Servo.h>
+
+//DC motors
+const int motorspeed         =  33; // mm/s
+
+//Servo
+Servo servo;
+
+void init_motors()
+{
+  //Limit switches
+  pinMode(limitleftpin, INPUT_PULLUP);
+  pinMode(limitrightpin, INPUT_PULLUP);
+
+  //Motors
+  pinMode(motorpin1, OUTPUT);
+  pinMode(motorpin2, OUTPUT);
+  pinMode(motorsenable,OUTPUT);
+
+  //Servo
+  //pinMode(servopin, OUTPUT);
+  servo.attach(servopin);
+}
+
+/*
+  distance 
+    +: right
+    -: left
+*/
+void translate(int distance)
+{
+  unsigned int end = 0;
+  digitalWrite(motorsenable, HIGH);
+  
+  //forward
+  if (distance > 0)
+  {
+    digitalWrite(motorpin1, HIGH);
+    digitalWrite(motorpin2, LOW);
+    end = millis() + (distance * 1000.) / motorspeed;
+  }
+  else
+  {
+    //left motor backward
+    digitalWrite(motorpin1, LOW);
+    digitalWrite(motorpin2, HIGH);
+    
+    end = millis() + (-distance * 1000.) / motorspeed;
+  }
+  
+  while(millis() < end)
+  {
+    if (distance > 0)
+    {
+      if (!digitalRead(limitrightpin))
+      {
+        Serial.println("Left reached");
+        break;
+      }
+      delayMicroseconds(10);
+    }
+    else
+    {
+      if (!digitalRead(limitleftpin))
+      {
+        Serial.println("right  reached");
+        break;
+      }
+      delayMicroseconds(10);
+    }
+  }
+  
+  Serial.println("Finished");
+  
+  //motor stop
+  digitalWrite(motorpin1, LOW);
+  digitalWrite(motorpin2, LOW);
+  
+  digitalWrite(motorsenable, LOW);
+}
+
+/*
+  angle 
+    +: clockwise
+    -: anticlockwise
+*/
+void rotate(int angle)
+{
+}
+