diff --git a/Joysticks.h b/Joysticks.h index 81cb537..61445e5 100644 --- a/Joysticks.h +++ b/Joysticks.h @@ -1,7 +1,7 @@ #include // start reading from the first byte (address 0) of the EEPROM -int address = 0; +unsigned int address = 0; byte value; // Joystick vars @@ -11,8 +11,10 @@ int sensorValue = 0; int outputValue = 0; //volatile int center[6] = {0, 0, 0, 0, 0, 0}; -volatile int minvalue[6] = {1000, 1000, 1000, 1000, 1000, 1000}; -volatile int maxvalue[6] = {0, 0, 0, 0, 0, 0}; +//volatile int minvalue[6] = {1000, 1000, 1000, 1000, 1000, 1000}; //ARDUINO +//volatile int maxvalue[6] = {0, 0, 0, 0, 0, 0}; //ARDUINO +int minvalue[6] = {1000, 1000, 1000, 1000, 1000, 1000}; //TEENSY +int maxvalue[6] = {0, 0, 0, 0, 0, 0}; //TEENSY void JoystickInit() { diff --git a/Nrf.h b/Nrf.h index 4c0348d..f71bae6 100644 --- a/Nrf.h +++ b/Nrf.h @@ -21,9 +21,10 @@ void NrfInit() radio.setPALevel(RF24_PA_LOW); } -dataStruct2 NrfSendData(dataStruct2 data, bool debug = false) +bool NrfSendData(dataStruct2 data, bool debug = false) +//dataStruct2 NrfSendData(dataStruct2 data, bool debug = false) { - network.update(); + // network.update(); if (debug) Serial.print("Sending..."); @@ -39,5 +40,25 @@ dataStruct2 NrfSendData(dataStruct2 data, bool debug = false) Serial.println("failed."); } + return ok; + // return data; +} + +dataStruct2 NrfGetData(dataStruct2 data, bool debug = false) +{ + // network.update(); + int timeout = millis() + 100; + while ( network.available() && timeout > millis() ) + { + RF24NetworkHeader header; + network.read(header, &data, sizeof(data)); + + if (debug) + { + Serial.print("Received packet "); + Serial.println(data.servoPositions[0]); + } + } + return data; } diff --git a/SerialPasstrough.h b/SerialPasstrough.h index 9b8648e..54f2b60 100644 --- a/SerialPasstrough.h +++ b/SerialPasstrough.h @@ -1,44 +1,120 @@ #include "TransferDataStructure.h" -dataStruct2 GetSerialData(dataStruct2 dataIn, bool debug = false) +String getValue(String data, char separator, int index) { - if (Serial.available()) + 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]) : ""; +} + +dataStruct2 GetSerialData(dataStruct2 &dataIn, bool debug = false) +{ + if (Serial.available() && Serial.peek() != -1) { - String data = Serial.readStringUntil('\r'); - int maxIndex = data.length() - 1; - int index = 0; - int next_index; - String data_word; - String channel; - String angle; - do { - next_index = data.indexOf(',', index); + // String data = Serial.readStringUntil('\r'); + // while (Serial.read() >= 0); + // int maxIndex = data.length() - 1; + // int index = 0; + // int next_index; + // String data_word; + // String channel; + // String angle; + // do { + // next_index = data.indexOf(',', index); + // + // data_word = data.substring(index, next_index); + // channel = data_word.substring(0, data_word.indexOf('_')); + // angle = data_word.substring(data_word.indexOf('_') + 1); + // + // if (isDigit(angle[0])) // prevent error overwriting first entry. + // dataIn.servoPositions[channel.toInt()] = angle.toFloat(); + // + // index = next_index + 1; + // } while ((next_index != -1) && (next_index < maxIndex)); - data_word = data.substring(index, next_index); - channel = data_word.substring(0, data_word.indexOf('_')); - angle = data_word.substring(data_word.indexOf('_') + 1); - if (isDigit(angle[0])) // prevent error overwriting first entry. - dataIn.servoPositions[channel.toInt()] = angle.toFloat(); - - index = next_index + 1; - } while ((next_index != -1) && (next_index < maxIndex)); - - dataIn.remotePasstroughControl = true; - - if (debug) - { - Serial.println("Enabled Servo Passtrough mode!"); - - Serial.println("Output line: "); + /*String s = Serial.readStringUntil('s'); for (int i = 0; i < 18; i++) { - Serial.print(i); - Serial.print(", "); - Serial.print(dataIn.servoPositions[i]); + Serial.setTimeout(10); + String c = Serial.readStringUntil('_'); + String v = Serial.readStringUntil(','); + String cc = Serial.readStringUntil('='); + int channel = c.toInt(); + int value = v.toInt(); + int crc = cc.toInt(); + + if ((crc == (channel) * value) && value >= 0 && value <= 180) + dataIn.servoPositions[channel] = value;*/ + //byte recv[18 + 1]; + if (Serial.available() >= 18 + 1 + 2 + 30) + { + bool recc = false; + byte recv[256] = {0}; + //Serial.readBytesUntil(0xffffff, recv, 255); + Serial.readBytesUntil(0xff, recv, 255); + for (int i = 0; i < 255 - 19; i++) + { + // if (recv[i + 1] == 0xff && recv[i + 2] == 0xff && recv[i + 3] == 0xff) + if (recv[i + 19] == 0xfe) + { + for (int j = 0; j < 18 + 1; j++) + { + recv[j] = recv[(i) + j]; + } + recc = true; + + break; + } + } + + + //s.getBytes(recv, s.length()); + byte crc = 0x00; + for (int i = 0; i < 18; i++) + { + crc += recv[i]; + } + + + if (crc == recv[18]) + { + + if (recc) + { + for (int i = 0; i < 18; i++) + { + dataIn.servoPositions[i] = recv[i]; + } + } + } + //} + + dataIn.remotePasstroughControl = true; + + if (debug) + { + Serial.println("Enabled Servo Passtrough mode!"); + + Serial.println("Output line: "); + for (int i = 0; i < 18; i++) + { + Serial.print(i); + Serial.print(", "); + Serial.print(dataIn.servoPositions[i]); + Serial.println(""); + } Serial.println(""); } - Serial.println(""); } } diff --git a/TransferDataStructure.h b/TransferDataStructure.h index 6e6d782..0b3daea 100644 --- a/TransferDataStructure.h +++ b/TransferDataStructure.h @@ -3,6 +3,8 @@ struct __attribute__((__packed__)) dataStruct2 { + bool STOP = false; + float walkSpeed = 10; //step size float walkSpeed2 = 0; //gate speed float walkRotation = 0 ; @@ -13,7 +15,15 @@ struct __attribute__((__packed__)) dataStruct2 float rotation[3] = {0, 0, 0}; bool remotePasstroughControl = 0; - uint16_t servoPositions[18]; + float servoPositions[18] = { + 90, 90, 90, + 90, 90, 90, + 90, 90, 90, + + 90, 90, 90, + 90, 90, 90, + 90, 90, 90 + }; } dataStruct; diff --git a/remote.ino b/remote.ino index 3f80c7f..5656473 100644 --- a/remote.ino +++ b/remote.ino @@ -1,7 +1,51 @@ #include "Joysticks.h" #include "Nrf.h" #include "SerialPasstrough.h" -#include +#include +#include +#include "Nextion.h" + +NexPage page0 = NexPage(4, 0, "uploadscreen"); + +NexText t0 = NexText(1, 6, "t1"); +NexText t1 = NexText(3, 22, "t1"); + +NexButton b2 = NexButton(1, 5, "b2"); +NexSlider sliders[18] = {NexSlider(3, 1, "h0"), + NexSlider(3, 2, "h1"), + NexSlider(3, 3, "h2"), + NexSlider(3, 4, "h3"), + NexSlider(3, 5, "h4"), + NexSlider(3, 6, "h5"), + NexSlider(3, 7, "h6"), + NexSlider(3, 8, "h7"), + NexSlider(3, 9, "h8"), + NexSlider(3, 10, "h9"), + NexSlider(3, 11, "h10"), + NexSlider(3, 12, "h11"), + NexSlider(3, 13, "h12"), + NexSlider(3, 14, "h13"), + NexSlider(3, 15, "h14"), + NexSlider(3, 16, "h15"), + NexSlider(3, 17, "h16"), + NexSlider(3, 18, "h17") + }; + +char buffer[100] = {0}; + +NexTouch *nex_listen_list[] = +{ + &b2, + &page0, + &t0, + &t1, + NULL +}; + +void b2PopCallback(void *ptr) +{ + passtrough(); +} MPU6050 mpu (Wire); @@ -9,51 +53,124 @@ dataStruct2 data; joyStickdataStruct joystickData; void setup() { - Serial.begin(115200); +// Serial.begin(250000, SERIAL_8E1); // ARDUINO + Serial.begin(250000); // TEENSY + // Serial.begin(115200); + Serial1.begin(115200); + // passtrough(); + + nexInit(); + b2.attachPush(b2PopCallback, &b2); + b2.attachPop(b2PopCallback, &b2); + // for (int i = 0; i < 18; i++) + // sliders[i] = NexSlider(3, i++, "h" + i); + // while (true) + // { + // nexLoop(nex_listen_list); + // sliders[0].setValue(30); + // } // Initialization - mpu.Initialize(); - + // Wire.begin(); + // mpu.begin(); + // + // mpu.calcGyroOffsets(true, 300, 1000); + // // // Calibration // Serial.println("====================================="); // Serial.println("Starting calibration..."); - // mpu.Calibrate(); + // mpu.calcGyroOffsets(); // Serial.println("Calibration complete!"); - // Serial.println("Offsets:"); - // Serial.print("AccX Offset = "); - // Serial.println(mpu.GetAccXOffset()); - // Serial.print("AccY Offset = "); - // Serial.println(mpu.GetAccYOffset()); - // Serial.print("AccZ Offset = "); - // Serial.println(mpu.GetAccZOffset()); - // Serial.print("GyroX Offset = "); - // Serial.println(mpu.GetGyroXOffset()); - // Serial.print("GyroY Offset = "); - // Serial.println(mpu.GetGyroYOffset()); - // Serial.print("GyroZ Offset = "); - // Serial.println(mpu.GetGyroZOffset()); JoystickInit(); NrfInit(); } -void loop() { - // mpu.Execute(); - // Serial.print("AngX = "); - // Serial.print(mpu.GetAngX()); +void passtrough() +{ + delay(100); + for (int i = 0; i < 10; i++) + { + // nexLoop(nex_listen_list); + // delay(10); + page0.show(); + delay(10); + } + + Serial.begin(115200); + Serial1.begin(115200); + do { + if (Serial.available()) { // If anything comes in Serial (USB), + Serial1.write(Serial.read()); // read it and send it out Serial1 (pins 0 & 1) + } + + if (Serial1.available()) { // If anything comes in Serial1 (pins 0 & 1) + Serial.write(Serial1.read()); // read it and send it out Serial (USB) + } + } while (true); +} + +void loop() +{ + nexLoop(nex_listen_list); + network.update(); + + if (false) + { + mpu.update(); + Serial.print("AngX = "); + Serial.print(mpu.getAngleX()); + Serial.print(" / AngY = "); + Serial.print(mpu.getAngleY()); + Serial.print(" / AngZ = "); + Serial.println(mpu.getAngleZ()); + } + + // Serial.print(" / AngX = "); + // Serial.print(mpu.getGyroAngleX()); // Serial.print(" / AngY = "); - // Serial.print(mpu.GetAngY()); + // Serial.print(mpu.getGyroAngleY()); // Serial.print(" / AngZ = "); - // Serial.println(mpu.GetAngZ()); + // Serial.println(mpu.getGyroAngleZ()); - joystickData = JoystickGet(false); + joystickData = JoystickGet(true); - data = GetSerialData(data, false); + // test + if (false) + { + data.remotePasstroughControl = true; + data.servoPositions[1] = (joystickData.value[2] * 0.78f); + data.servoPositions[4] = (joystickData.value[2] * 0.78f); + data.servoPositions[7] = (joystickData.value[2] * 0.78f); - data.servoPositions[0] = joystickData.value[0]; + data.servoPositions[10] = 180 - (joystickData.value[2] * 0.78f); + data.servoPositions[13] = 180 - (joystickData.value[2] * 0.78f); + data.servoPositions[16] = 180 - (joystickData.value[2] * 0.78f); + } - data = NrfSendData(data, true); + GetSerialData(data, false); + // data = GetSerialData(data, false); + + // data.STOP = true; + + for (int i = 0; i < 18; i++) + sliders[i].setValue(data.servoPositions[i]); + + bool ok = NrfSendData(data, false); + // data = NrfSendData(data, false); + + if (ok) + t0.setText("connected"); + else + t0.setText("not connected"); + if (ok) + t1.setText("connected"); + else + t1.setText("not connected"); + + //test + // data = NrfGetData(data, true); delay(20); }