/**************************************************************************************************
*
* Wiring_SerialLib
*
* Version: 1.1.0 - February 2009
* Author: Christoph Wartmann / chair for caad - ETH Zürich / wartmann[at]arch.ethz.ch
* Etienne Ribeiro / tutorial assistant caad / eribeiro[at]ethz.ch
*
* Desc: This code must be uploaded to your wiring-board if you want to make use of the
* WiringLib-Library in Processing or Java. There is a catching option to perform
* commands as groups nearly simultanes. The Servo library has been integrated to
* control servo motors from your PC or MAC.
* However this library is beta software and needs some work to get better
* performance.
*
* Protocoll: 9 bytes, last byte is CR or LF:
* 0: 'A': Analog, 'D': Digital, 'I': ImpulesLength, 'P': Ping
* 1: 'I': Input, 'O':Output, 'P': Ping
* 2: Pin
* 3: Value 1
* 4: Value 2
* 5: empty
* 6: 'C': Catch
* 7: 'H': High, 'L': Low (For Impules)
* 8: LF (10)
*
***************************************************************************************************/
#include <Servo.h>
// Default Pin
int digitalDefaultPin = 48; // default light
int SERIAL_WAIT_MILLIS_BEFORE_BREAK = 100; // Max time to perform a command.
// Blink (for Error tracing)
int blinkPin = 7;
int busyPin = 6;
// catch Commands
int iCatch = 0;
int const countCatch = 10; // max catched commands
int catchedCommands[countCatch][8]; // x Commands, 8 Values
// Setup
void setup() {
// LED (2 * blinken)
pinMode(digitalDefaultPin, OUTPUT);
digitalWrite(digitalDefaultPin, HIGH);
delay(200);
digitalWrite(digitalDefaultPin, LOW);
delay(200);
digitalWrite(digitalDefaultPin, HIGH);
// Serial at 9600
Serial.begin(9600);
//
pinMode(busyPin, OUTPUT);
pinMode(blinkPin, OUTPUT);
}
// Loop
void loop() {
// Read Serial and Execute Command:
ReadAndExecute();
// LED
Blink();
}
// read and execute
void ReadAndExecute() {
if(Serial.available() > 0) { // if data is available to read
//Bytes lesen
int i = 0;
int arr[] = { 0, 0, 0, 0, 0, 0, 0, 0 };
while (true) {
int val = doReadSerial();
if (val < 0) break; //val < 0 -> Serial delayed -> exit
if (i < 8) arr[i] = val; // store 8 bytes
if (i == 8 && (val == 10 || val == 13)) break; // exit when val=10 or val=13
if (i == 8) { // something went wrong
while (true) { // find end
int val = doReadSerial();
if (val == 10 || val == 13)
return;
}
}
i += 1;
}
// Catch:
boolean doExecute = catchRecievedSerialCommand(arr[0], arr[1], arr[2], arr[3], arr[4], arr[5], arr[6], arr[7]);
//Execute Commands:
if(doExecute == true) executeCatchedCommands();
// no Catch:
//executeCommand(arr[0], arr[1], arr[2], arr[3], arr[4], arr[5], arr[6], arr[7]);
}
}
// ______________________________
// Read Serial
int doReadSerial() {
//pinMode(busyPin, OUTPUT); //Error tracing
int i = 0;
// wait for data:
long startedAt = millis ();
while(Serial.available() <= 0) {
//Error tracing
digitalWrite(busyPin,HIGH);
if (startedAt + SERIAL_WAIT_MILLIS_BEFORE_BREAK < millis())
return -1;
i += 1;
}
digitalWrite(busyPin,LOW); //Error tracing
// read:
unsigned char charVal = Serial.read();
// Return
return (int)charVal;
}
// ______________________________
// Catch
boolean catchRecievedSerialCommand(int s1, int s2, int s3, int s4, int s5, int s6, int sCatch, int s8) {
//Catch
catchedCommands[iCatch][0] = s1;
catchedCommands[iCatch][1] = s2;
catchedCommands[iCatch][2] = s3;
catchedCommands[iCatch][3] = s4;
catchedCommands[iCatch][4] = s5;
catchedCommands[iCatch][5] = s6;
catchedCommands[iCatch][6] = sCatch;
catchedCommands[iCatch][7] = s8;
iCatch += 1;
//Catch empty -> return true
if(iCatch == countCatch) return true;
//doCatch -> return false
if((char)sCatch == 'C') return false;
return true;
}
// Catch Execute:
void executeCatchedCommands() {
// 0: AnalogDigital
// 1: InputOutput
// 2: Pin
// 3: Value
// 4: empty
// 5: empty
// 6: doCatch
// 7: Transition
// Execute all catched commands:
for (int i = 0;i < iCatch;i++) {
executeCommand(catchedCommands[i][0], catchedCommands[i][1], catchedCommands[i][2], catchedCommands[i][3], catchedCommands[i][4], catchedCommands[i][5], catchedCommands[i][6], catchedCommands[i][7]);
}
iCatch = 0;
}
// Command Execute:
void executeCommand(int AD, int IO, int Pin, int Value, int b5, int b6, int b7, int b8) {
if( AD == 'A' && IO == 'O') { // Analog and Out received
setAnalogOutput(AD, IO, Pin, Value, b5, b6, b7, b8);
}
else if( AD == 'D' && IO == 'O') { // Digital and Out received
setDigitalOutput(AD, IO, Pin, Value, b5, b6, b7, b8);
}
else if( AD == 'A' && IO == 'I') { // Analog and Input received
getAnalogInput(AD, IO, Pin, Value, b5, b6, b7, b8);
}
else if( AD == 'D' && IO == 'I') { // Digital and Input received
getDigitalInput(AD, IO, Pin, Value, b5, b6, b7, b8);
}
else if( AD == 'I' && IO == 'I') { // Impules Read
getImpules(AD, IO, Pin, Value, b5, b6, b7, b8); //Pin, HIGH/LOW
}
else if( AD == 'P' && IO == 'P') { // Ping
Ping(AD, IO, Pin, Value, b5, b6, b7, b8);
}
else if( AD == 'S' && IO == 'A') { // Servo.Attache
attachServo (AD, IO, Pin, Value, b5, b6, b7, b8);
}
else if( AD == 'S' && IO == 'D') { // Servo.Detache (Detache all Servos)
detachAllServos (AD, IO, Pin, Value, b5, b6, b7, b8);
}
else if( AD == 'S' && IO == 'W') { // Servo.Write val:0-180
ServoWrite (AD, IO, Pin, Value, b5, b6, b7, b8);
}
else if( AD == 'S' && IO == 'R') { // Servo.Read val:0-180
ServoRead (AD, IO, Pin, Value, b5, b6, b7, b8);
}
}
// ______________________________
// Functions:
void getDigitalInput(int AD, int IO, int Pin, int Value, int b5, int b6, int b7, int b8) {
pinMode(Pin, INPUT);
int iValue = digitalRead(Pin);
if(iValue == HIGH)
iValue = 1;
else
iValue = 0;
Serial.print(AD, BYTE);
Serial.print(IO, BYTE);
Serial.print(Pin, BYTE);
Serial.print(iValue, BYTE);
Serial.print(b5, BYTE);
Serial.print(b6, BYTE);
Serial.print(b7, BYTE);
Serial.print(b8, BYTE);
Serial.print(10, BYTE);
}
void getAnalogInput(int AD, int IO, int Pin, int Value, int b5, int b6, int b7, int b8) {
int iValue = analogRead(Pin);
Serial.print(AD, BYTE);
Serial.print(IO, BYTE);
Serial.print(Pin, BYTE);
Serial.print(iValue / 4, BYTE);
Serial.print(b5, BYTE);
Serial.print(b6, BYTE);
Serial.print(b7, BYTE);
Serial.print(b8, BYTE);
Serial.print(10, BYTE);
}
void setAnalogOutput(int AD, int IO, int Pin, int Value, int b5, int b6, int b7, int b8) {
analogWrite(Pin, Value * 4);
Serial.print(AD, BYTE);
Serial.print(IO, BYTE);
Serial.print(Pin, BYTE);
Serial.print(Value, BYTE);
Serial.print(b5, BYTE);
Serial.print(b6, BYTE);
Serial.print(b7, BYTE);
Serial.print(b8, BYTE);
Serial.print(10, BYTE);
}
void setDigitalOutput(int AD, int IO, int Pin, int Value, int b5, int b6, int b7, int b8) {
pinMode(Pin, OUTPUT);
if(Value == 1)digitalWrite(Pin,HIGH);
if(Value == 0)digitalWrite(Pin,LOW);
Serial.print(AD, BYTE);
Serial.print(IO, BYTE);
Serial.print(Pin, BYTE);
Serial.print(Value, BYTE);
Serial.print(b5, BYTE);
Serial.print(b6, BYTE);
Serial.print(b7, BYTE);
Serial.print(b8, BYTE);
Serial.print(10, BYTE);
}
void getImpules(int AD, int IO, int Pin, int Value, int b5, int option, int b7, int Transition) {
//Display_Println("getImpules");
pinMode(busyPin, OUTPUT); //Error tracing
digitalWrite(busyPin,HIGH);
int ImpulesLength = 0;
if((char)Transition == 'L'){
pinMode(Pin, INPUT);
ImpulesLength = pulseIn(Pin, HIGH);
ImpulesLength = pulseIn(Pin, LOW);
}else if((char)Transition == 'H'){
pinMode(Pin, INPUT);
ImpulesLength = pulseIn(Pin, LOW);
ImpulesLength = pulseIn(Pin, HIGH);
}
// Option 'B' Mesure 2 times and return higher value
if ((char)option == 'B') {
int tmpImpulesLength = 0;
if((char)Transition == 'L'){
tmpImpulesLength = pulseIn(Pin, HIGH);
tmpImpulesLength = pulseIn(Pin, LOW);
}else if((char)Transition == 'H'){
tmpImpulesLength = pulseIn(Pin, LOW);
tmpImpulesLength = pulseIn(Pin, HIGH);
}
if (tmpImpulesLength > ImpulesLength)
ImpulesLength = tmpImpulesLength;
}
digitalWrite(busyPin,LOW); //Error tracing
int b1 = floor(ImpulesLength/256);
int b2 = ImpulesLength - b1 * 256;
Serial.print(AD, BYTE);
Serial.print(IO, BYTE);
Serial.print(Pin, BYTE);
Serial.print(b1, BYTE);
Serial.print(b2, BYTE);
Serial.print(option, BYTE);
Serial.print(b7, BYTE);
Serial.print(Transition, BYTE);
Serial.print(10, BYTE);
}
void setImpules(int AD, int IO, int Pin, int Value, int b5, int b6, int b7, int b8) {
}
// Servos
Servo servos[8]; // Maximal 8 Servos
int servos_pin[8];
int countServos = 0;
void attachServo (int b1, int b2, int pin, int b4, int b5, int id, int b7, int b8) {
if (id > 7) return;
servos_pin[id] = pin;
servos[id].attach(pin);
countServos += 1;
Serial.print(b1, BYTE);
Serial.print(b2, BYTE);
Serial.print(pin, BYTE);
Serial.print(b4, BYTE);
Serial.print(b5, BYTE);
Serial.print(id, BYTE);
Serial.print(b7, BYTE);
Serial.print(b8, BYTE);
Serial.print(10, BYTE);
}
void detachAllServos (int b1, int b2, int pin, int b4, int b5, int id, int b7, int b8) {
for (int i = 0;i<countServos;i++) {
servos[i].detach();
}
countServos = 0;
Serial.print(b1, BYTE);
Serial.print(b2, BYTE);
Serial.print(pin, BYTE);
Serial.print(b4, BYTE);
Serial.print(b5, BYTE);
Serial.print(id, BYTE);
Serial.print(b7, BYTE);
Serial.print(b8, BYTE);
Serial.print(10, BYTE);
}
void ServoWrite(int AD, int IO, int b3, int value, int b5, int id, int b7, int b8) {
if (id > 7) return;
servos[id].write(value);
Serial.print(AD, BYTE);
Serial.print(IO, BYTE);
Serial.print(b3, BYTE);
Serial.print(value, BYTE);
Serial.print(b5, BYTE);
Serial.print(id, BYTE);
Serial.print(b7, BYTE);
Serial.print(b8, BYTE);
Serial.print(10, BYTE);
}
void ServoRead(int AD, int IO, int b3, int b4, int b5, int id, int b7, int b8) {
if (id > 7) return;
int value = servos[id].read();
Serial.print(AD, BYTE);
Serial.print(IO, BYTE);
Serial.print(b3, BYTE);
Serial.print(value, BYTE);
Serial.print(b5, BYTE);
Serial.print(id, BYTE);
Serial.print(b7, BYTE);
Serial.print(b8, BYTE);
Serial.print(10, BYTE);
}
//______________________________
//Blink + Ping
long previousTime = 0;
boolean boolLedOn = false;
void Blink() {
if(boolLedOn == true){
if((millis() - previousTime) >= 1000){
previousTime = millis();
boolLedOn = false;
pinMode(blinkPin, OUTPUT);
digitalWrite(blinkPin, HIGH); // turn ON the LED
}
}
if(boolLedOn == false){
if((millis() - previousTime) >= 100){
previousTime = millis();
boolLedOn = true;
pinMode(blinkPin, OUTPUT);
digitalWrite(blinkPin, LOW); // turn ON the LED
}
}
}
void Ping(int AD, int IO, int Pin, int Value, int b5, int b6, int b7, int b8) {
Serial.print('P', BYTE);
Serial.print('P', BYTE);
Serial.print(0, BYTE);
Serial.print(7, BYTE);
Serial.print(b5, BYTE);
Serial.print(b6, BYTE);
Serial.print(b7, BYTE);
Serial.print(b8, BYTE);
Serial.print(10, BYTE);
}