การเตรียมArduino IDE สำหรับPlatform CiRA CORE ในระบบปฏิบัติการWindows

ดาวน์โหลดตัวอย่างCode และ Libraries ได้ที่ https://git.cira-lab.com/cira/cira-modules

Code firmware arduino ide

#if (ARDUINO >= 100)

#include <Arduino.h>

#else

#include <WProgram.h>

#endif

#include <VarSpeedServo.h>

//Lotus Nano Bot Shield

#define D0 0

#define D1 1

#define D2 2

#define D3 3 //buzzer

#define D4 13

#define DR1 7

#define DR2 8

#define PWMR 6 //Motor Right

#define DL1 9

#define DL2 4

#define PWML 5 //Motor Left

int dl_1 = 0;

int dl_2 = 0;

int spl = 0;

int dr_1 = 0;

int dr_2 = 0;

int spr = 0;

String GetStringPartAtSpecificIndex(const String data, const char separator, int index);

VarSpeedServo servo1, servo2, servo3;

bool is_lock = false;

void publishStatus() {

String stri =

String(analogRead(A0)) + ","

+ String(analogRead(A1)) + ","

+ String(analogRead(A2)) + "," ;

delay(1);

stri += String(analogRead(A3)) + ","

+ String(analogRead(A4)) + ","

+ String(analogRead(A5)) + ","

+ String(analogRead(A6)) + "," ;

delay(1);

stri += String(digitalRead(D2)) + ","

+ String(digitalRead(D0)) + ","

+ String(digitalRead(D1)) + ","

+ String(digitalRead(D3)) + ","

+ String(digitalRead(D4)) ;

Serial.println(stri);

}

void magnum_cb(String str){

//servo individual

if(str.indexOf('s') == 0) {

int pos1_ = servo1.read();

int pos2_ = servo2.read();

int pos3_ = servo3.read();

int vel1_ = 20, vel2_ = 20, vel3_ = 20;

String pos;

pos = GetStringPartAtSpecificIndex(str, ':', 1);

if(pos != "") {

pos1_ = (pos.toInt()) + 90;

vel1_ = GetStringPartAtSpecificIndex(str, ':', 2).toInt();

}

pos = GetStringPartAtSpecificIndex(str, ':', 3);

if(pos != "") {

pos2_ = (pos.toInt()) + 90;

vel2_ = GetStringPartAtSpecificIndex(str, ':', 4).toInt();

}

pos = GetStringPartAtSpecificIndex(str, ':', 5);

if(pos != "") {

pos3_ = (pos.toInt()) + 90;

vel3_ = GetStringPartAtSpecificIndex(str, ':', 6).toInt();

}

servo1.write(pos1_, vel1_, false);

servo2.write(pos2_, vel2_, false);

servo3.write(pos3_, vel3_, false);

return;

}

//dc motor

if(str.indexOf('m') == 0) {

dl_1 = GetStringPartAtSpecificIndex(str, ':', 1).toInt();

dl_2 = GetStringPartAtSpecificIndex(str, ':', 2).toInt();

spl = GetStringPartAtSpecificIndex(str, ':', 3).toInt();

dr_1 = GetStringPartAtSpecificIndex(str, ':', 4).toInt();

dr_2 = GetStringPartAtSpecificIndex(str, ':', 5).toInt();

spr = GetStringPartAtSpecificIndex(str, ':', 6).toInt();

return;

}

}

void oled_cb(String str){

//"1:WHITE,BLACK:0,0:1:hello"

int is_clear = GetStringPartAtSpecificIndex(str, ':', 1).toInt();

int is_black_white = GetStringPartAtSpecificIndex(str, ':', 2) == "BLACK,WHITE";

int x = GetStringPartAtSpecificIndex( GetStringPartAtSpecificIndex(str, ':', 3), ",", 0).toInt();

int y = GetStringPartAtSpecificIndex( GetStringPartAtSpecificIndex(str, ':', 3), ",", 1).toInt();

int size = GetStringPartAtSpecificIndex(str, ':', 4).toInt();

String text = GetStringPartAtSpecificIndex(str, ':', 5);

}

void buzzer_cb(String str){

int freq = GetStringPartAtSpecificIndex(str, ':', 1).toInt();

int timer_buzz = GetStringPartAtSpecificIndex(str, ':', 2).toInt();

if(freq == -1) noTone(3);

else tone(3, freq, timer_buzz);

}

void output_cb(String str){

//Digital write

int d3val = GetStringPartAtSpecificIndex(str, ',', 3).toInt();

int d4val = GetStringPartAtSpecificIndex(str, ',', 4).toInt();

if(d3val != -1) digitalWrite(D3 ,d3val);

if(d4val != -1) digitalWrite(D4 ,d4val);

}

void setup(){

pinMode(D2, INPUT);

pinMode(D3, OUTPUT);

pinMode(D4, OUTPUT);

pinMode(DL1, OUTPUT);

pinMode(DL2, OUTPUT);

pinMode(PWML, OUTPUT);

pinMode(DR1, OUTPUT);

pinMode(DR2, OUTPUT);

pinMode(PWMR, OUTPUT);

Serial.begin(9600);

delay(10);

servo1.attach(10); // attach servo1

delay(50);

servo2.attach(11); // attach servo2

delay(50);

servo3.attach(12); // attach servo3

}

void loop(){

if (Serial.available() > 0) {

String cmd = Serial.readStringUntil('\n');

if(cmd.indexOf("o:") == 0) { output_cb(cmd); Serial.println("o"); }

else if(cmd.indexOf("b:") == 0) { buzzer_cb(cmd); Serial.println("b"); }

else if(cmd.indexOf("s:") == 0 || cmd.indexOf("m:") == 0) { magnum_cb(cmd); Serial.println(cmd[0]); }

else if(cmd.indexOf("oled:") == 0) { oled_cb(cmd); Serial.println("oled"); }

//Serial.println(cmd);

//delay(5);

}

publishStatus();

if(dl_1 == 0) digitalWrite(DL1, LOW);

if(dl_1 == 1) digitalWrite(DL1, HIGH);

if(dl_2 == 0) digitalWrite(DL2, LOW);

if(dl_2 == 1) digitalWrite(DL2, HIGH);

analogWrite(PWML, spl);

if(dr_1 == 0) digitalWrite(DR1, LOW);

if(dr_1 == 1) digitalWrite(DR1, HIGH);

if(dr_2 == 0) digitalWrite(DR2, LOW);

if(dr_2 == 1) digitalWrite(DR2, HIGH);

analogWrite(PWMR, spr);

delay(1);

}

//#########################################################

String GetStringPartAtSpecificIndex(const String data, const char separator, int index)

{

int found = 0;

int strIndex[] = { 0, -1 };

int maxIndex = data.length() - 1;

for (int i = 0; i <= maxIndex && found <= index; i++) {

if (data.charAt(i) == separator || i == maxIndex) {

found++;

strIndex[0] = strIndex[1] + 1;

strIndex[1] = (i == maxIndex) ? i+1 : i;

}

}

return found > index ? data.substring(strIndex[0], strIndex[1]) : "";

}