Mercurial > ~darius > hgwebdir.cgi > splitbrain

annotate shore/shore.ino @ 2:7d4ec58da1d8

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nuke some more debugging
author Daniel O'Connor <darius@dons.net.au>
date Sat, 11 Jul 2015 15:34:59 +0930
parents fe0a2f223e10
children d25e14956c65
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1 #include <avr/pgmspace.h>
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2
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3 #include <Servo.h>
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4 #include <Wire.h>
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5 #include <LiquidCrystal_I2C.h>
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6 #include "log_lookup.h"
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7
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8 // DFRobot I/O Expansion Shield V7 - http://www.dfrobot.com/wiki/index.php/IO_Expansion_Shield_for_Arduino_V7_SKU:DFR0265
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9 // 2xPS3 joysticks connected like so
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10 // Joy 1 Horizontal - Left/right - AD0
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11 // Joy 1 Vertical - Forward/back - AD1
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12 // Joy 1 Button - Unused - D2
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13 // Joy 2 Horizontal - Unused - AD2
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14 // Joy 2 Vertical - Up/down - AD3
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15 // Joy 2 Button - Unused - D3
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16
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17 // LCD panel
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18 LiquidCrystal_I2C lcd(0x27, 16, 2); // I/O expander is at 0x27, LCD is 16x2
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19
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20 void setup() {
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21 int byte;
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22
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23 Serial.begin(115200);
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24
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25 // Set joystick button pins as inputs
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26 pinMode(7, INPUT);
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27 pinMode(8, INPUT);
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28
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29 lcd.init();
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30 lcd.backlight();
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31 lcd.print("Hello world!");
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32 }
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33
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34 void loop() {
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35 int joy1X, joy1Y, joy2X, joy2Y, but1, but2;
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36 int lint, rint, vint, ldir, rdir, vdir, ethrot;
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37 float k, l, r, v, x, y;
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38 char lcdbuf[16 + 1]; // Buffer 1 line
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39
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40 k = 1.5;
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41
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42 joy1X = analogRead(A0);
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43 joy1Y = analogRead(A1);
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44 but1 = !digitalRead(7); // Buttons are active low
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45 joy2X = analogRead(A2);
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46 joy2Y = analogRead(A3);
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47 but2 = !digitalRead(8);
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48
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49 #if 0
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50 Serial.print("Joy 1 X: "); Serial.print(joy1X); Serial.print(" ");
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51 Serial.print("Y: "); Serial.print(joy1Y); Serial.print(" Button: ");
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52 Serial.println(but1);
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53 Serial.print("Joy 2 X: "); Serial.print(joy2X); Serial.print(" ");
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54 Serial.print("Y: "); Serial.print(joy2Y); Serial.print(" Button: ");
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55 Serial.println(but2);
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56 #endif
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57 // Create deadband in the centre because they don't sit at 512
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58 if (joy1X > 500 && joy1X < 510) // Sits at 505
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59 joy1X = 512;
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60 if (joy1Y > 516 && joy1Y < 526) // Sits at 521
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61 joy1Y = 512;
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62 if (joy2X > 500 && joy2X < 510) // Sits at 505
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63 joy2X = 512;
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64 if (joy2Y > 520 && joy2Y < 530) // Sits at 525
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65 joy2Y = 512;
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66
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67 // Mix 'joystick' input to left/right thrust (elevon mixing)
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68 // http://eastbay-rc.blogspot.com.au/2011/05/elevon-v-tail-mixing-calculations.html
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69 x = (joy1X - 512.0) / 512.0; // More positive = right
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70 y = (joy1Y - 512.0) / 512.0; // More positive = forward, convert to -1..1
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71
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72 l = 1 * (x / 2 + y / 2);
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73 r = -1 * (x / 2 - y / 2);
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74
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75 v = ((float)(joy2Y - 512) / 512.0);
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76
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77 // Apply some gain
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78 l *= 2.2;
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79 r *= 2.2;
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80
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81 // Limit
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82 if (l > 1)
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83 l = 1;
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84 if (l < -1)
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85 l = -1;
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86 if (r > 1)
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87 r = 1;
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88 if (r < -1)
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89 r = -1;
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90 if (v < -1)
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91 v = -1;
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92 if (v > 1)
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93 v = 1;
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94
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95 // Map values to -255..255
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96 lint = l * 255;
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97 rint = r * 255;
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98 vint = v * 255;
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99
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100 // Apply log transfer function
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101 ldir = lint < 0 ? 0 : 1; // 0 = reverse, 1 = forward
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102 lint = pgm_read_byte_near(log_lookup + abs(lint));
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103 rdir = rint < 0 ? 0 : 1;
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104 rint = pgm_read_byte_near(log_lookup + abs(rint));
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105 vdir = vint < 0 ? 0 : 1;
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106 vint = pgm_read_byte_near(log_lookup + abs(vint));
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107
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108 Serial.print("L:");
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109 Serial.print(lint * (ldir == 0 ? -1 : 1));
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110 Serial.print(" R:");
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111 Serial.print(rint * (rdir == 0 ? -1 : 1));
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112 Serial.print(" V:");
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113 Serial.print(vint * (vdir == 0 ? -1 : 1));
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114 Serial.println();
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115
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116 snprintf(lcdbuf, sizeof(lcdbuf) - 1, "L%c%3dR%c%3dV%c%3d", ldir == 0 ? '-' : '+', lint,
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117 rdir == 0 ? '-' : '+', rint, vdir == 0 ? '-' : '+', vint);
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118 lcd.setCursor(0, 0);
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119 lcd.print(lcdbuf);
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120 snprintf(lcdbuf, sizeof(lcdbuf) - 1, " B1: %d B2: %d ", but1, but2);
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121 lcd.setCursor(0, 1);
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122 lcd.print(lcdbuf);
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123 delay(200);
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124 }
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125
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126 /*
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127 * Local variables:
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128 * mode: c++
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129 * End:
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130 */