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annotate sea/sea.ino @ 0:fe0a2f223e10

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Initial commit of split brain code for the Sea Dragon.
author Daniel O'Connor <darius@dons.net.au>
date Sat, 11 Jul 2015 15:20:05 +0930
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children 6f1cd84f8e23
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fe0a2f223e10 Initial commit of split brain code for the Sea Dragon.
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1 #include <Wire.h>
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2 #include <Adafruit_MotorShield.h>
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3 #include "utility/Adafruit_PWMServoDriver.h"
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4
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5 // Orange - Vertical M2+
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6 // White/orange - Vertical M2-
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7 // Green - Left M3+
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8 // White/green - Left M3-
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9 // Blue - Right M1+
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10 // White/blue - Right M1-
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11 // Brown - RS485 B
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12 // Brown/white - RS485 A
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13
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14 // Motor shield object at default address
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15 Adafruit_MotorShield AFMS = Adafruit_MotorShield();
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16
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17 // Motor objects
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18 Adafruit_DCMotor *leftMotor = AFMS.getMotor(3);
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19 Adafruit_DCMotor *rightMotor = AFMS.getMotor(1);
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20 Adafruit_DCMotor *vertMotor = AFMS.getMotor(2);
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21
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22 void setup() {
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23 Serial.begin(115200);
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24
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25 AFMS.begin(); // Start at default frequency
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26 }
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27
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28 int
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29 parseIn(char dir) {
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30 int tmp;
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31
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32 while (Serial.read() != dir)
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33 ;
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34 while (Serial.read() != ':')
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35 ;
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36 tmp = Serial.parseInt();
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37
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38 return tmp;
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39 }
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40
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41 void loop() {
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42 int tmp;
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43
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44 Serial.println("Parsing L...");
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45 tmp = parseIn('L');
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46 if (tmp > 0)
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47 leftMotor->run(FORWARD);
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48 else
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49 leftMotor->run(BACKWARD);
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50 leftMotor->setSpeed(abs(tmp));
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51
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52 Serial.println("Parsing R...");
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53 tmp = parseIn('R');
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54 if (tmp > 0)
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55 rightMotor->run(FORWARD);
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56 else
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57 rightMotor->run(BACKWARD);
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58 rightMotor->setSpeed(abs(tmp));
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59
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60 Serial.println("Parsing V...");
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61 tmp = parseIn('V');
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62 if (tmp > 0)
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63 vertMotor->run(FORWARD);
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64 else
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65 vertMotor->run(BACKWARD);
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66 vertMotor->setSpeed(abs(tmp));
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67
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68 Serial.println("Done");
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69 }
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70
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71 /*
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72 * Local variables:
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73 * mode: c++
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74 * End:
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75 */