Example #1
0
void ShieldGSM::executeATCommands(struct ATcommand *commandsList, int numCommands) {
    for (int i = 0; i < numCommands; i++) {
      struct ATcommand atc = commandsList[i];
      int tocount=0;
      int state = INIT_WAIT_CODE; 
      TMRArd_InitTimer(0, INIT_TIME);
      Serial.print(i);
      executeUserCommand(atc.cmd.c_str());
      do {
        state = printShieldGSMResponse(atc.resp);
        if (state == INIT_WAIT_CODE && TMRArd_IsTimerExpired(0)) {
          state = INIT_TIMEOUT_CODE;
          TMRArd_InitTimer(0, INIT_TIME);        
        }
        else if (state != INIT_WAIT_CODE) {
          TMRArd_InitTimer(0, INIT_TIME);
        }
        switch(state) {
          case INIT_TIMEOUT_CODE:
            Serial.println("COMMAND TIMEOUT: "+String(++tocount));  // intentionally no break
          case INIT_ERROR_CODE:
            executeUserCommand(atc.cmd.c_str());
            break;
          default:
            break;
        }   
        if(tocount>=3){
			executeUserCommand(CTRL_Z.c_str());
			return;
		}
      } while(state != INIT_SUCCESS_CODE);
    }
}
Example #2
0
void setMotion(int fwdSpeed, int rotSpeed) {
	// calculate individual motor speed
	leftSpeed = fwdSpeed + rotSpeed;
	rightSpeed = fwdSpeed - rotSpeed;

	// set the direction
	digitalWrite(MOTOR_LEFT_DIR, (leftSpeed > 0) ? LOW : HIGH);
	digitalWrite(MOTOR_RIGHT_DIR, (rightSpeed < 0) ? LOW : HIGH);

	// cap the speed
	if (leftSpeed < -255)
		leftSpeed = -255;
	else if (leftSpeed > 255)
		leftSpeed = 255;
	if (rightSpeed < -255)
		rightSpeed = -255;
	else if (rightSpeed > 255)
		rightSpeed = 255;


	// set it to get full power for a fixed time
	analogWrite(MOTOR_LEFT_PWM, 255);
	analogWrite(MOTOR_RIGHT_PWM, 255);

	// set a timer so we know when to revert to actual level
	TMRArd_InitTimer(MOTOR_TIMER, MOTOR_FULL_POWER_TIME);
}
Example #3
0
void stopMotion() {
	// reverse direction for short time
	digitalWrite(MOTOR_LEFT_DIR, (leftSpeed < 0) ? LOW : HIGH);
	digitalWrite(MOTOR_RIGHT_DIR, (rightSpeed > 0) ? LOW : HIGH);

	analogWrite(MOTOR_LEFT_PWM, 255);
	analogWrite(MOTOR_RIGHT_PWM, 255);

	leftSpeed = 0;
	rightSpeed = 0;

	// set stop timer
	TMRArd_InitTimer(MOTOR_TIMER, MOTOR_STOP_TIME);
}
Example #4
0
char followLine(int spd) {
	if (TMRArd_IsTimerExpired(LINE_FOLLOW_TIMER) != TMRArd_EXPIRED)
		return LINE_FOLLOW_OK;

	// reinit the timer
	TMRArd_InitTimer(LINE_FOLLOW_TIMER, LINE_FOLLOW_UPDATE_PERIOD);

	int val[3];
	char retVal;
	
	if (spd > 0)
		readFrontSensors(val);
	else
		readBackSensors(val);

	int min = removeMin(val);
	int max = getMax(val);
	int correction = 0;
	int error = getLinePos(val);

	// check min and max to determine
	// where all sensors covered, or all sensors on white
	
	if (min > LINE_SENSOR_MIN_THRES) {	// all black
		retVal = LINE_FOLLOW_ALL_LINE;
	}
	else if (max < LINE_SENSOR_MAX_THRES) {	// no line!
		retVal = LINE_FOLLOW_NO_LINE;
	}
	else {
		correction = (error * LINE_KP) >> 3;
		correction += (error - oldError) * LINE_KD;
		retVal = LINE_FOLLOW_OK;
	}

	if (spd > 0)
		adjustMotion(spd, -correction);
	else
		adjustMotion(-spd, -correction);
		
	oldError = error;

	return retVal;
}
Example #5
0
void startLineFollowing(int spd) {
	oldError = 0;
	setMotion(spd, 0);
	followLine(spd);
	TMRArd_InitTimer(LINE_FOLLOW_TIMER, LINE_FOLLOW_UPDATE_PERIOD);
}
void start_pulse_timer(int delay_length){
    // starts the pulse timer
    TMRArd_InitTimer(PULSE_TIMER_ID, delay_length);
}
void start_timer(unsigned char timer_id, int duration){
    TMRArd_InitTimer(timer_id, duration);
}