void loop() {
delay(250);
toggleLED();
if (isButtonPressed()) {
if (servo1.attached()) detach();
else attach();
}
if (!servo1.attached()) return;
int32 average = averageAnalogReads(250);
int16 angle1 = (int16)map(average, 0, 4095, MIN_ANGLE1, MAX_ANGLE1);
int16 angle2 = (int16)map(average, 0, 4095, MIN_ANGLE2, MAX_ANGLE2);
print_buf("pot reading = %d, angle 1 = %d, angle 2 = %d.",
average, angle1, angle2);
servo1.write(angle1);
servo2.write(angle2);
int16 read1 = servo1.read();
int16 read2 = servo2.read();
print_buf("write/read angle 1: %d/%d, angle 2: %d/%d",
angle1, read1, angle2, read2);
ASSERT(abs(angle1 - read1) <= 1);
ASSERT(abs(angle2 - read2) <= 1);
print_buf("pulse width 1: %d, pulse width 2: %d",
servo1.readMicroseconds(), servo2.readMicroseconds());
Serial2.println("\n--------------------------\n");
}
void loop() {
float vol_value = analogRead(VOLPIN);
char str[5];
int val;
if(isDebug == 0 && isServoDone == 0){
//for button
buttonState = digitalRead(buttonPin);
if (buttonState == HIGH) {
//ボタンが押されたらサーボ起動、移動後にFlahsAirの初期化 (TODO 先に初期化するとサーボが動かないバグのため暫定)
Serial.println("Btn High!!!!yeah");
//時計周りに 0 度の方向へ、そして戻した後に、FAを起動
moveServoShaft(0, 1);
moveServoShaft(90, 1);
delay(1000);
isDebug = 1;
// Initialize SD card.
Serial.print(F("\nInitializing SD card..."));
if (card.init(SPI_HALF_SPEED, chipSelectPin)) {
Serial.print(F("OK"));
} else {
Serial.print(F("NG"));
abort();
}
memset(buffer, 0, 0x200);
}else {
//nothing
}
int d = Serial.read();
if( d == 'a' ){
sv.attach(SERVO_PIN);
}
else if( d == 'd' ){
sv.detach();
}
else if( d == 'r' ){
Serial.println(sv.read());
Serial.println(sv.readMicroseconds());
}
else if( '0' <= d && d <= '9' ){
//時計周りに 0 度の方向へそして戻してFA移動
moveServoShaft(0, 10);
moveServoShaft(90, 10);
delay(1000);
//サーボ終了
isServoDone = 1;
// Initialize SD card.
Serial.print(F("\nInitializing SD card..."));
if (card.init(SPI_HALF_SPEED, chipSelectPin)) {
Serial.print(F("OK"));
} else {
Serial.print(F("NG"));
abort();
}
memset(buffer, 0, 0x200);
}
//}
}else{
if (card.readExtMemory(1, 1, 0x1000, 0x200, buffer)) {
str[0] = buffer[0];
str[1] = buffer[1];
str[2] = buffer[2];
str[3] = buffer[3];
str[4] = 0;
val = atoi(str);
//0バイトの場合初期化
if(currentByte != 0 && val == 0){
strip.clear();
strip.show();
Serial.println("back to start");
currentByte = 0;
}
if(val == 0 || val == currentByte){
//do nothing...
//Serial.println("get 1...");
}else{
if (vol_value < 800){
//Serial.println("byte changed...");
currentByte = val;
showLed3AndHelloServo(val);
Serial.println(val);
}else{
strip.clear();
strip.show();
}
}
}
}
delay(450);
}
void loop()
{
// create local variables to hold a local copies of the channel inputs
// these are declared static so that thier values will be retained
// between calls to loop.
static uint16_t unThrottleIn;
static uint16_t unSteeringIn;
static uint16_t unAuxIn;
// local copy of update flags
static uint8_t bUpdateFlags;
// check shared update flags to see if any channels have a new signal
if(bUpdateFlagsShared)
{
noInterrupts(); // turn interrupts off quickly while we take local copies of the shared variables
// take a local copy of which channels were updated in case we need to use this in the rest of loop
bUpdateFlags = bUpdateFlagsShared;
// in the current code, the shared values are always populated
// so we could copy them without testing the flags
// however in the future this could change, so lets
// only copy when the flags tell us we can.
if(bUpdateFlags & THROTTLE_FLAG)
{
unThrottleIn = unThrottleInShared;
}
if(bUpdateFlags & STEERING_FLAG)
{
unSteeringIn = unSteeringInShared;
}
if(bUpdateFlags & AUX_FLAG)
{
unAuxIn = unAuxInShared;
}
// clear shared copy of updated flags as we have already taken the updates
// we still have a local copy if we need to use it in bUpdateFlags
bUpdateFlagsShared = 0;
interrupts(); // we have local copies of the inputs, so now we can turn interrupts back on
// as soon as interrupts are back on, we can no longer use the shared copies, the interrupt
// service routines own these and could update them at any time. During the update, the
// shared copies may contain junk. Luckily we have our local copies to work with :-)
}
// do any processing from here onwards
// only use the local values unAuxIn, unThrottleIn and unSteeringIn, the shared
// variables unAuxInShared, unThrottleInShared, unSteeringInShared are always owned by
// the interrupt routines and should not be used in loop
// the following code provides simple pass through
// this is a good initial test, the Arduino will pass through
// receiver input as if the Arduino is not there.
// This should be used to confirm the circuit and power
// before attempting any custom processing in a project.
// we are checking to see if the channel value has changed, this is indicated
// by the flags. For the simple pass through we don't really need this check,
// but for a more complex project where a new signal requires significant processing
// this allows us to only calculate new values when we have new inputs, rather than
// on every cycle.
if(bUpdateFlags & THROTTLE_FLAG)
{
if(servoThrottle.readMicroseconds() != unThrottleIn)
{
servoThrottle.writeMicroseconds(unThrottleIn);
}
}
if(bUpdateFlags & STEERING_FLAG)
{
if(servoSteering.readMicroseconds() != unSteeringIn)
{
servoSteering.writeMicroseconds(unSteeringIn);
}
}
if(bUpdateFlags & AUX_FLAG)
{
if(servoAux.readMicroseconds() != unAuxIn)
{
servoAux.writeMicroseconds(unAuxIn);
}
}
bUpdateFlags = 0;
}
void loop()
{
myservo.attach(pin); // attaches the servo on pin to the servo object
myservo2.attach(pin2);
myservo2.write(0);
Log("ServoIndex: %d\n", myservo2.read());
Log("ServoIndex in Microseconds: %d\n", myservo2.readMicroseconds());
delay(delayAmount);
myservo2.write(180);
Log("ServoIndex: %d\n", myservo2.read());
Log("ServoIndex in Microseconds: %d\n", myservo2.readMicroseconds());
/* Tested to work on 9/26 at 4:41pm */
myservo.write(-90);
Log("ServoIndex: %d\n", myservo.read());
Log("ServoIndex in Microseconds: %d\n", myservo.readMicroseconds());
delay(delayAmount);
myservo.write(0);
Log("ServoIndex: %d\n", myservo.read());
Log("ServoIndex in Microseconds: %d\n", myservo.readMicroseconds());
delay(delayAmount);
myservo.write(180);
Log("ServoIndex: %d\n", myservo.read());
Log("ServoIndex in Microseconds: %d\n", myservo.readMicroseconds());
delay(delayAmount);
myservo.write(200);
Log("ServoIndex: %d\n", myservo.read());
Log("ServoIndex in Microseconds: %d\n", myservo.readMicroseconds());
delay(delayAmount);
/*Tested to work on 9/26 at 4:44pm */
myservo.writeMicroseconds(544);
Log("ServoIndex: %d\n", myservo.read());
Log("ServoIndex in Microseconds: %d\n", myservo.readMicroseconds());
delay(delayAmount);
myservo.writeMicroseconds(4000);
Log("ServoIndex: %d\n", myservo.read());
Log("ServoIndex in Microseconds: %d\n", myservo.readMicroseconds());
delay(delayAmount);
Log("ServoIndex: %d\n", myservo.read());
Log("ServoIndex in Microseconds: %d\n", myservo.readMicroseconds());
if (myservo.attached())
{
Log("Servo is attached\n");
Log("Servo is detaching\n");
myservo.detach();
if (!myservo.attached())
{
Log("Servo is detached\n");
}
}
else
{
Log("Servo is not attached\n");
}
//for (pos = 0; pos < 180; pos += 1) // goes from 0 degrees to 180 degrees
//{ // in steps of 1 degree
// myservo.write(pos); // tell servo to go to position in variable 'pos'
// delay(15); // waits 15ms for the servo to reach the position
//}
//for (pos = 180; pos >= 1; pos -= 1) // goes from 180 degrees to 0 degrees
//{
// myservo.write(pos); // tell servo to go to position in variable 'pos'
// delay(15); // waits 15ms for the servo to reach the position
//}
}
