// Detects an incoming RFID. Returns 1 if a known ID is detected, 0 otherwise.
int Skyscraper::readRFID() {
Serial.println("Tower "+String(_id)+":");
String rfid = ""; // stores RFID string
char val = 0; // stores incoming character
int counter = 0; // breaks loop if no RFID
// reset readers
for (int i = 3; i < 8; i++) {
if (i == _rfidPin) {
// Serial.println(" digitalWrite("+String(i)+", HIGH);");
digitalWrite(i, HIGH);
}
else {
// Serial.println(" digitalWrite("+String(i)+", LOW);");
digitalWrite(i, LOW);
}
}
delay(300);
// read the serial port
while (Serial.available()) {
if (counter > 20 || rfid.length() == 12) {
break;
}
else {
val = Serial.read();
if (isalnum(val)) rfid.concat(val);
counter++;
}
}
Serial.println(" rfid:"+rfid);
// check color
for (int i = 0; i < NUM_RINGS; i++) {
if (rfid == clean(redID[i])) {
Serial.println(" detected red!");
if (_color != "red") {
analogWrite(_red, 255);
analogWrite(_blue, 0);
_color = "red";
}
turnServo();
return 1;
}
else if (rfid == clean(blueID[i])) {
Serial.println(" detected blue!");
if (_color != "blue") {
analogWrite(_red, 0);
analogWrite(_blue, 255);
_color = "blue";
}
turnServo();
return 1;
}
}
return 0; // no rfid detected
}
/*
-Pre-Reqs: SetupPWM(uint32_t prescale) with prescale = 10
setupI2C1()
setupUART()
setupADC()
-Globals: sweepspeed
samplespersweep
sweepstartpos
sweepstoppos
-Desc: Moves servo between servo start and end position at a set speed,
scans a set number of times.
If '0' is pressed on the keypad, quits.
*/
void scanMode(void){
initServo(1);
setServo(sweepstartpos);
SystickTimer(100);
// gap between scans = scan range / sample speed
uint32_t scangap = (uint32_t)((float)(sweepstoppos - sweepstartpos)/(float)samplespersweep);
char button;
int turnAmt;
int dir = 1;
int i = samplespersweep - 1;
while(1){
// If servo at edge, change direction
if(servoAtEdge()){
dir = dir*-1;
startSweep();
i = samplespersweep - 1;
averageDistance = _averageSweep();
}
// Turn servo in the "dir" direction by "sweepspeed"
turnAmt = dir*sweepspeed;
turnServo(turnAmt);
if(servo_position % scangap < sweepspeed){
currentIr = irMedian();
sendScanData(currentIr);
sweep[i] = currentIr;
currentRawIr = irMedianRaw();
}
// If 0 was pressed on the keypad, break out of the loop.
button = KeypadTest();
if(button == '0'){
break;
};
SystickTimer(10);
}
}
