Difference between revisions of "Otto - riadiaci program v.2"
Line 194: | Line 194: | ||
uint32_t tm = millis(); | uint32_t tm = millis(); | ||
int d = measure_distance(); | int d = measure_distance(); | ||
− | while ((millis() - tm < 3000) && (d < 15)) | + | int count; |
+ | while ((millis() - tm < 3000) && (d < 15) & (count < 10)) | ||
{ | { | ||
delay(10); | delay(10); | ||
d = measure_distance(); | d = measure_distance(); | ||
+ | if (d == 10000) count++; | ||
+ | else count = 0; | ||
} | } | ||
− | if ( | + | if (millis() - tm >= 3000) |
ultrasonic_menu(); | ultrasonic_menu(); | ||
} | } | ||
Line 460: | Line 463: | ||
void zatancuj_choreografiu() | void zatancuj_choreografiu() | ||
{ | { | ||
− | for (int i = 0; i < ch_len; i++) | + | for (int i = 0; i < ch_len - 1; i++) |
{ | { | ||
delay(ch_time[i]); | delay(ch_time[i]); |
Revision as of 09:01, 3 August 2018
Program umožňuje priame riadenie robota (aj cez BlueTooth). Teraz už funguje aj na pinoch 2,4 a môže sa naraz programovať aj komunikovať.
Na komunikáciu s robotom môžete použiť napr. program Putty: putty.exe.
klaves | servo | pin | Kalibracia |
---|---|---|---|
a/q | ľavá ruka | 10 | 4 |
;/p | pravá ruka | 11 | 5 |
z/x | ľavá noha | 9 | 3 |
,/. | pravá noha | 6 | 2 |
d/c | ľavá päta | 5 | 1 |
k/m | pravá päta | 3 | 0 |
1/9 | zníž/zvýš rýchlosť pohybu | - | |
TXD | BT | 2 | |
RXD | BT | 4 | |
TRIG | UZ | 7 | |
ECHO | UZ | 8 | |
Sirena | 12 |
Ďalej umožňuje
- kalibrovať strednú polohu servomotorov (pomocou klávesu H)
- pomocou + a - najdeme nulovu polohu serva
- eneter ideme na dalsie servo
- ukoncime E ulozenie do eprom
- potvrdime Y
- kalibrovať limity pre všetky stupne voľnosti (pomocou klávesu J), zobrazenie celej kalibrácie: kláves G
- celú kalibráciu je možné zapísať do trvalej pamäte EEPROM pomocou klávesu E (používať opatrne!), po zapnutí sa automaticky načíta
- pozdraví po klávese -, ruky dá hore na kláves R
- načíta choreografiu po klávese @,
- zobrazí načítanú choreografiu na kláves ? a
- zatancuje načítanú choreografiu - kláves t.
- Na klávesách 3-6 je možné nastaviť rôznu kombináciu (funkcie kombinacia1() - kombinacia4()).
- Kláves U testuje ultrazvuk
- Medzera resetne všetky servo motory do strednej polohy.
1 #include <Servo.h>
2 #include <EEPROM.h>
3
4 #define ECHO_BT_TO_USB 1
5
6 #define US_TRIG 7
7 #define US_ECHO 8
8
9 #define BT_RX 2
10 #define BT_TX 4
11
12 #define SIRENA 12
13
14 //maximalna dlzka choreografie
15 #define CHOREO_LEN 200
16
17 // cisla pinov, kde su zapojene servo motory
18 #define PIN_SERVO_LAVA_RUKA 10
19 #define PIN_SERVO_PRAVA_RUKA 11
20 #define PIN_SERVO_LAVA_NOHA 9
21 #define PIN_SERVO_PRAVA_NOHA 6
22 #define PIN_SERVO_LAVA_PATA 5
23 #define PIN_SERVO_PRAVA_PATA 3
24
25 #define S1 3
26 #define S2 5
27 #define S3 6
28 #define S4 9
29 #define S5 10
30 #define S6 11
31 #define SIRENA 12
32
33 //maximalna dlzka choreografie
34 #define CHOREO_LEN 200
35
36 // tu su serva cislovane 1-6
37 #define SERVO_LAVA_RUKA 5
38 #define SERVO_PRAVA_RUKA 6
39 #define SERVO_LAVA_NOHA 4
40 #define SERVO_PRAVA_NOHA 3
41 #define SERVO_LAVA_PATA 2
42 #define SERVO_PRAVA_PATA 1
43
44 // ak su niektore serva naopak, je tu jednotka
45 uint8_t servo_invertovane[6] = {0, 0, 1, 1, 0, 1};
46
47 // znaky, ktorymi sa ovladaju jednotlive stupne volnosti
48 char znaky_zmien[] = {'a', 'q', ';', 'p', 'z', 'x', ',', '.', 'd', 'c', 'k', 'm' };
49 // co robia jednotlive znaky (znamienko urcuje smer)
50 int8_t zmeny[] = {SERVO_LAVA_RUKA, -SERVO_LAVA_RUKA,
51 SERVO_PRAVA_RUKA, -SERVO_PRAVA_RUKA,
52 -SERVO_LAVA_NOHA, SERVO_LAVA_NOHA,
53 -SERVO_PRAVA_NOHA, SERVO_PRAVA_NOHA,
54 SERVO_LAVA_PATA, -SERVO_LAVA_PATA,
55 SERVO_PRAVA_PATA, -SERVO_PRAVA_PATA };
56
57 // sem si mozno ulozit svoju kalibraciu
58 //uint8_t prednastavena_kalibracia[] = { 78, 69, 83, 80, 50, 67 };
59 uint8_t prednastavena_kalibracia[] = { 90, 90, 90, 90, 90, 90 };
60
61 uint8_t dolny_limit[] = {0, 0, 0, 0, 0, 0, 0, 0};
62 uint8_t horny_limit[] = {180, 180, 180, 180, 180, 180};
63
64 Servo s[6];
65
66 uint16_t ch_time[CHOREO_LEN];
67 uint8_t ch_servo[CHOREO_LEN];
68 uint8_t ch_val[CHOREO_LEN];
69 int ch_len;
70 uint8_t kalib[6];
71 int stav[6];
72 int krok;
73
74 void setup() {
75 Serial.begin(9600);
76 init_serial(9600);
77 init_ultrasonic();
78
79 randomSeed(analogRead(1));
80 s[0].attach(PIN_SERVO_PRAVA_PATA);
81 s[1].attach(PIN_SERVO_LAVA_PATA);
82 s[2].attach(PIN_SERVO_PRAVA_NOHA);
83 s[3].attach(PIN_SERVO_LAVA_NOHA);
84 s[4].attach(PIN_SERVO_PRAVA_RUKA);
85 s[5].attach(PIN_SERVO_LAVA_RUKA);
86 precitaj_kalibraciu_z_EEPROM();
87 for (int i = 0; i < 6; i++)
88 {
89 kalib[i] = prednastavena_kalibracia[i];
90 stav[i] = kalib[i];
91 s[i].write(stav[i]);
92 }
93 ch_len = 0;
94 krok = 7;
95 ahoj();
96 ruky2();
97 delay(100);
98 serial_println("\r\n Otto DTDT");
99 }
100
101 void loop() {
102 char z = -1;
103 if (serial_available()) z = serial_read();
104 #ifdef ECHO_BT_TO_USB
105 if (Serial.available()) z = Serial.read();
106 #endif
107
108 if (z != -1)
109 {
110 if (pohyb_znakom(z)) return;
111 else if (pohyb_kombinacia(z)) return;
112 else if (z == '@') nacitaj_choreografiu();
113 else if (z == '?') vypis_choreografiu();
114 else if (z == 't') zatancuj_choreografiu();
115 else if (z == '-') ahoj();
116 else if (z == ' ') reset();
117 else if (z == 'H') kalibruj();
118 else if (z == 'J') nastav_limity();
119 else if (z == 'G') vypis_kalibraciu();
120 else if (z == 'L') nacitaj_kalibraciu();
121 else if (z == 'E') zapis_kalibraciu_do_EEPROM();
122 else if (z == 'R') ruky();
123 else if (z == '9') zvys_krok();
124 else if (z == '1') zniz_krok();
125 else if (z == 'U') test_ultrazvuk();
126 }
127 int16_t d = measure_distance();
128 if (d < 10) menu_ultrasonic_request();
129 }
130
131 void test_ultrazvuk()
132 {
133 int i = 0;
134 while ((serial_available() == 0) && (Serial.available() == 0))
135 {
136 serial_println_num(measure_distance());
137 delay(100);
138 }
139 serial_read();
140 }
141
142 void menu_ultrasonic_request()
143 {
144 uint32_t tm = millis();
145 int d = measure_distance();
146 int count;
147 while ((millis() - tm < 3000) && (d < 15) & (count < 10))
148 {
149 delay(10);
150 d = measure_distance();
151 if (d == 10000) count++;
152 else count = 0;
153 }
154 if (millis() - tm >= 3000)
155 ultrasonic_menu();
156 }
157
158 void ultrasonic_menu()
159 {
160 int selection = 0;
161 tone(SIRENA, 880, 200);
162
163 do {
164 int count = 0;
165 do {
166 int32_t d = measure_distance();
167 if (d == 10000) continue;
168 if (d >= 20) count++;
169 else count = 0;
170 delay(10);
171 } while (!serial_available() && !Serial.available() && (count < 20));
172
173 tone(SIRENA, 440, 200);
174 uint32_t tm = millis();
175 while ((measure_distance() > 15) && (millis() - tm < 1500) && !serial_available() && !Serial.available()) delay(10);
176 if (millis() - tm >= 1500)
177 {
178 tone(SIRENA, 2000, 50);
179 menu_command(selection);
180 return;
181 }
182 selection++;
183 for (int i = 0; i < selection; i++)
184 {
185 tone(SIRENA, 1261, 50);
186 delay(250);
187 }
188 } while (!serial_available() && !Serial.available());
189 while (serial_available()) serial_read();
190 while (Serial.available()) Serial.read();
191 }
192
193 void menu_command(int cmd)
194 {
195 serial_println_num(cmd);
196 }
197
198 void precitaj_kalibraciu_z_EEPROM()
199 {
200 uint8_t value = EEPROM.read(1);
201 if (value != '~') return;
202 for (int i = 2; i < 8; i++)
203 prednastavena_kalibracia[i - 2] = EEPROM.read(i);
204 for (int i = 0; i < 6; i++)
205 dolny_limit[i] = EEPROM.read(i + 9);
206 for (int i = 0; i < 6; i++)
207 horny_limit[i] = EEPROM.read(i + 15);
208 }
209
210 char read_char()
211 {
212 while (!serial_available() && !Serial.available());
213 if (serial_available()) return serial_read();
214 else return Serial.read();
215 }
216
217 void zapis_kalibraciu_do_EEPROM()
218 {
219 serial_print("Naozaj chces zapisat kalibraciu do EEPROM? [Y/n]: ");
220 char odpoved = read_char();
221 serial_println_char(odpoved);
222 if (odpoved == 'Y')
223 {
224 EEPROM.write(1, '~');
225 for (int i = 2; i < 8; i++)
226 EEPROM.write(i, kalib[i - 2]);
227 for (int i = 0; i < 6; i++)
228 EEPROM.write(9 + i, dolny_limit[i]);
229 for (int i = 0; i < 6; i++)
230 EEPROM.write(15 + i, horny_limit[i]);
231 serial_println("ok");
232 }
233 }
234
235 void pipni()
236 {
237 tone(SIRENA, 1568, 50);
238 delay(100);
239 tone(SIRENA, 1357, 50);
240 }
241
242 void ruky()
243 {
244 int odloz_krok = krok;
245 delay(500);
246 krok = 90;
247 pohyb(SERVO_LAVA_RUKA);
248 pohyb(SERVO_PRAVA_RUKA);
249 delay(1000);
250 krok = 180;
251 pohyb(-SERVO_LAVA_RUKA);
252 pohyb(-SERVO_PRAVA_RUKA);
253 delay(1000);
254 krok = odloz_krok;
255 pipni();
256 }
257
258 void ruky2()
259 {
260 int odloz_krok = krok;
261 delay(500);
262 krok = 180;
263 pohyb(SERVO_LAVA_RUKA);
264 pohyb(SERVO_PRAVA_RUKA);
265 delay(1000);
266 krok = 90;
267 pohyb(-SERVO_LAVA_RUKA);
268 pohyb(-SERVO_PRAVA_RUKA);
269 delay(1000);
270 krok = odloz_krok;
271 pipni();
272 }
273
274 void ahoj()
275 {
276 tone(SIRENA, 1568, 50);
277 delay(70);
278 tone(SIRENA, 1175, 30);
279 delay(50);
280 tone(SIRENA, 880, 30);
281 delay(50);
282 tone(SIRENA, 1047, 50);
283 delay(70);
284 tone(SIRENA, 1245, 30);
285 delay(150);
286 tone(SIRENA, 1568, 50);
287 delay(100);
288 if (random(10) > 4) tone(SIRENA, 1357, 50);
289 else tone(SIRENA, 1047, 50);
290 }
291
292 void nastav_koncatinu(int8_t servo, uint8_t poloha)
293 {
294 int8_t srv = (servo > 0)?servo:-servo;
295 srv--;
296 poloha += kalib[srv] - 90;
297 if (poloha > 180) poloha = 180;
298 if (poloha < 0) poloha = 0;
299 stav[srv] = poloha;
300 s[srv].write(stav[srv]);
301 }
302
303 void pohyb(int8_t servo)
304 {
305 int8_t srv = (servo > 0)?servo:-servo;
306 srv--;
307 if (servo_invertovane[srv]) servo = -servo;
308 if (servo > 0)
309 {
310 if (stav[srv] <= horny_limit[srv] - krok) stav[srv] += krok;
311 else stav[srv] = horny_limit[srv];
312 s[srv].write(stav[srv]);
313 }
314 else if (servo < 0)
315 {
316 if (stav[srv] >= dolny_limit[srv] + krok) stav[srv] -= krok;
317 else stav[srv] = dolny_limit[srv];
318 s[srv].write(stav[srv]);
319 }
320 }
321
322 uint8_t pohyb_znakom(char z)
323 {
324 for (int i = 0; i < 12; i++)
325 {
326 if (z == znaky_zmien[i])
327 {
328 int8_t servo = zmeny[i];
329 pohyb(servo);
330 }
331 }
332 }
333
334 void kombinacia1()
335 {
336 pohyb(SERVO_LAVA_NOHA);
337 pohyb(-SERVO_PRAVA_PATA);
338 }
339
340 void kombinacia2()
341 {
342 pohyb(SERVO_PRAVA_NOHA);
343 pohyb(-SERVO_LAVA_PATA);
344 }
345
346 void kombinacia3()
347 {
348 pohyb(SERVO_LAVA_RUKA);
349 pohyb(SERVO_PRAVA_RUKA);
350 }
351
352 void kombinacia4()
353 {
354 pohyb(-SERVO_LAVA_RUKA);
355 pohyb(-SERVO_PRAVA_RUKA);
356 }
357
358 int pohyb_kombinacia(char z)
359 {
360 if (z == '3') kombinacia1();
361 else if (z == '4') kombinacia2();
362 else if (z == '5') kombinacia3();
363 else if (z == '6') kombinacia4();
364 else return 0;
365 return 1;
366 }
367
368 int nacitajCislo()
369 {
370 int num = 0;
371 int z;
372 do {
373 z = serial_read();
374 if (z == '#') while (z != 13) z = serial_read();
375 } while ((z < '0') || (z > '9'));
376 while ((z >= '0') && (z <= '9'))
377 {
378 num *= 10;
379 num += (z - '0');
380 do { z = serial_read(); if (z == -1) delayMicroseconds(10); } while (z < 0);
381 }
382 return num;
383 }
384
385 void nacitaj_choreografiu()
386 {
387 ch_len = 0;
388 int tm;
389 do {
390 tm = nacitajCislo();
391 ch_time[ch_len] = tm;
392 ch_servo[ch_len] = nacitajCislo();
393 ch_val[ch_len] = nacitajCislo();
394 ch_len++;
395 if (ch_len == CHOREO_LEN) break;
396 } while (tm > 0);
397 pipni();
398 }
399
400 void vypis_choreografiu()
401 {
402 for (int i = 0; i < ch_len; i++)
403 {
404 serial_print_num(ch_time[i]);
405 serial_print(" ");
406 serial_print_num(ch_servo[i]);
407 serial_print(" ");
408 serial_println_num(ch_val[i]);
409 }
410 pipni();
411 }
412
413 void zatancuj_choreografiu()
414 {
415 for (int i = 0; i < ch_len - 1; i++)
416 {
417 delay(ch_time[i]);
418 nastav_koncatinu(ch_servo[i], ch_val[i]);
419 }
420 if (ch_len > 0) stav[ch_servo[ch_len - 1]] = ch_val[ch_len - 1];
421 pipni();
422 }
423
424 void reset()
425 {
426 for (int i = 0; i < 6; i++)
427 {
428 stav[i] = kalib[i];
429 s[i].write(kalib[i]);
430 }
431 pipni();
432 }
433
434 uint8_t nalad_hodnotu_serva(uint8_t servo, uint8_t hodnota)
435 {
436 serial_print(" (+/-/ENTER): ");
437 serial_println_num(hodnota);
438 s[servo].write(hodnota);
439 char z;
440 do {
441 z = read_char();
442 if ((z == '+') && (hodnota < 180)) hodnota++;
443 else if ((z == '-') && (hodnota > 0)) hodnota--;
444 if ((z == '+') || (z == '-'))
445 {
446 serial_print_num(hodnota); serial_print_char('\r');
447 s[servo].write(hodnota);
448 }
449 } while (z != 13);
450 return hodnota;
451 }
452
453 void kalibruj()
454 {
455 for (int i = 0; i < 6; i++)
456 {
457 serial_print_num(i);
458 kalib[i] = nalad_hodnotu_serva(i, kalib[i]);
459 serial_print_num(i);
460 serial_print(": ");
461 serial_println_num(kalib[i]);
462 }
463 for (int i = 0; i < 6; i++) { serial_print_num(kalib[i]); serial_print(" "); }
464 serial_println("ok");
465 pipni();
466 }
467
468 void nastav_limity()
469 {
470 for (int i = 0; i < 6; i++)
471 {
472 serial_print_num(i);
473 serial_print("dolny");
474 dolny_limit[i] = nalad_hodnotu_serva(i, dolny_limit[i]);
475 serial_print_num(i);
476 serial_print(" dolny: ");
477 serial_println_num(dolny_limit[i]);
478 s[i].write(kalib[i]);
479
480 serial_print_num(i);
481 serial_print("horny");
482 horny_limit[i] = nalad_hodnotu_serva(i, horny_limit[i]);
483 serial_print_num(i);
484 serial_print(" horny: ");
485 serial_println_num(horny_limit[i]);
486 s[i].write(kalib[i]);
487 }
488 for (int i = 0; i < 6; i++) { serial_print_num(dolny_limit[i]); serial_print("-"); serial_print_num(horny_limit[i]); serial_print(" "); }
489 serial_println("ok");
490 pipni();
491 }
492
493 void vypis_kalibraciu()
494 {
495 serial_print("stredy: ");
496 for (int i = 0; i < 6; i++) { serial_print_num(kalib[i]); serial_print(" "); }
497 serial_println();
498 serial_print("dolny limit: ");
499 for (int i = 0; i < 6; i++) { serial_print_num(dolny_limit[i]); serial_print(" "); }
500 serial_println();
501 serial_print("horny limit: ");
502 for (int i = 0; i < 6; i++) { serial_print_num(horny_limit[i]); serial_print(" "); }
503 serial_println();
504 }
505
506 void nacitaj_kalibraciu()
507 {
508 int tm;
509 for (int i = 0; i < 6; i++)
510 kalib[i] = nacitajCislo();
511 vypis_kalibraciu();
512 serial_println("ok");
513 pipni();
514 }
515
516 void zvys_krok()
517 {
518 if (krok < 180) krok++;
519 serial_print("krok: ");
520 serial_println_num(krok);
521 }
522
523 void zniz_krok()
524 {
525 if (krok > 0) krok--;
526 serial_print("krok: ");
527 serial_println_num(krok);
528 }
529
530 // nasleduje softverova implementacia serioveho portu
531 #define SERIAL_STATE_IDLE 0
532 #define SERIAL_STATE_RECEIVING 1
533 #define SERIAL_BUFFER_LENGTH 20
534
535 static volatile uint8_t serial_state;
536 static uint8_t serial_buffer[SERIAL_BUFFER_LENGTH];
537 static volatile uint8_t serial_buf_wp, serial_buf_rp;
538
539 static volatile uint8_t receiving_byte;
540
541 static volatile uint32_t time_startbit_noticed;
542 static volatile uint8_t next_bit_order;
543 static volatile uint8_t waiting_stop_bit;
544 static uint16_t one_byte_duration;
545 static uint16_t one_bit_duration;
546 static uint16_t one_bit_write_duration;
547 static uint16_t half_of_one_bit_duration;
548
549 void init_serial(uint32_t baud_rate)
550 {
551 pinMode(2, INPUT);
552 pinMode(4, OUTPUT);
553
554 serial_state = SERIAL_STATE_IDLE;
555
556 one_byte_duration = 9500000 / baud_rate;
557 one_bit_duration = 1000000 / baud_rate;
558 one_bit_write_duration = one_bit_duration - 1;
559 half_of_one_bit_duration = 500000 / baud_rate;
560
561 PCMSK2 |= 4; //PCINT18;
562 PCIFR &= ~4; //PCIF2;
563 PCICR |= 4; // PCIE2;
564 }
565
566 ISR(PCINT2_vect)
567 {
568 uint32_t tm = micros();
569 if (serial_state == SERIAL_STATE_IDLE)
570 {
571 time_startbit_noticed = tm;
572 serial_state = SERIAL_STATE_RECEIVING;
573 receiving_byte = 0xFF;
574 next_bit_order = 0;
575 }
576 else if (tm - time_startbit_noticed > one_byte_duration)
577 {
578 serial_buffer[serial_buf_wp] = receiving_byte;
579 serial_buf_wp++;
580 if (serial_buf_wp == SERIAL_BUFFER_LENGTH) serial_buf_wp = 0;
581 time_startbit_noticed = tm;
582 receiving_byte = 0xFF;
583 next_bit_order = 0;
584 }
585 else if (PIND & 4)
586 {
587 int8_t new_next_bit_order = (tm - time_startbit_noticed - half_of_one_bit_duration) / one_bit_duration;
588 while (next_bit_order < new_next_bit_order)
589 {
590 receiving_byte &= ~(1 << next_bit_order);
591 next_bit_order++;
592 }
593 if (next_bit_order == 8)
594 {
595 serial_buffer[serial_buf_wp] = receiving_byte;
596 serial_buf_wp++;
597 if (serial_buf_wp == SERIAL_BUFFER_LENGTH) serial_buf_wp = 0;
598 serial_state = SERIAL_STATE_IDLE;
599 }
600 } else
601 next_bit_order = (tm - time_startbit_noticed - half_of_one_bit_duration) / one_bit_duration;
602 }
603
604 uint8_t serial_available()
605 {
606 cli();
607 if (serial_buf_rp != serial_buf_wp)
608 {
609 sei();
610 return 1;
611 }
612 if (serial_state == SERIAL_STATE_RECEIVING)
613 {
614 uint32_t tm = micros();
615 if (tm - time_startbit_noticed > one_byte_duration)
616 {
617 serial_state = SERIAL_STATE_IDLE;
618 serial_buffer[serial_buf_wp] = receiving_byte;
619 serial_buf_wp++;
620 if (serial_buf_wp == SERIAL_BUFFER_LENGTH) serial_buf_wp = 0;
621 sei();
622 return 1;
623 }
624 }
625 sei();
626 return 0;
627 }
628
629 int16_t serial_read()
630 {
631 cli();
632 if (serial_buf_rp != serial_buf_wp)
633 {
634 uint8_t ch = serial_buffer[serial_buf_rp];
635 serial_buf_rp++;
636 if (serial_buf_rp == SERIAL_BUFFER_LENGTH) serial_buf_rp = 0;
637 sei();
638 return ch;
639 }
640
641 if (serial_state == SERIAL_STATE_RECEIVING)
642 {
643 uint32_t tm = micros();
644 if (tm - time_startbit_noticed > one_byte_duration)
645 {
646 uint8_t ch = receiving_byte;
647 serial_state = SERIAL_STATE_IDLE;
648 sei();
649 return ch;
650 }
651 }
652 sei();
653 return -1;
654 }
655
656 void serial_write(uint8_t ch)
657 {
658 #ifdef ECHO_BT_TO_USB
659 Serial.print((char)ch);
660 #endif
661 PORTD &= ~16;
662 delayMicroseconds(one_bit_write_duration);
663 for (uint8_t i = 0; i < 8; i++)
664 {
665 if (ch & 1) PORTD |= 16;
666 else PORTD &= ~16;
667 ch >>= 1;
668 delayMicroseconds(one_bit_write_duration);
669 }
670 PORTD |= 16;
671 delayMicroseconds(one_bit_write_duration);
672 delayMicroseconds(one_bit_write_duration);
673 delayMicroseconds(one_bit_write_duration);
674 delayMicroseconds(one_bit_write_duration);
675 delayMicroseconds(one_bit_write_duration);
676 }
677
678 uint16_t serial_readln(uint8_t *ln, uint16_t max_length)
679 {
680 uint16_t len;
681 uint16_t ch;
682 do {
683 ch = serial_read();
684 if (ch == 13) continue;
685 } while (ch == -1);
686
687 do {
688 if ((ch != 13) && (ch != 10) && (ch != -1))
689 {
690 *(ln++) = ch;
691 max_length--;
692 len++;
693 }
694 ch = serial_read();
695 } while ((ch != 13) && max_length);
696 *ln = 0;
697 return len;
698 }
699
700 void serial_print_num(int32_t number)
701 {
702 if (number < 0)
703 {
704 serial_write('-');
705 number = -number;
706 }
707 int32_t rad = 1;
708 while (number / rad) rad *= 10;
709 if (number > 0) rad /= 10;
710 while (rad)
711 {
712 serial_write((char)('0' + (number / rad)));
713 number -= (number / rad) * rad;
714 rad /= 10;
715 }
716 }
717
718 void serial_print_char(char ch)
719 {
720 serial_write(ch);
721 }
722
723 void serial_print(const uint8_t *str)
724 {
725 while (*str) serial_write(*(str++));
726 }
727
728 void serial_println(const uint8_t *str)
729 {
730 serial_print(str);
731 serial_write(13);
732 serial_write(10);
733 }
734
735 void serial_println_num(int32_t number)
736 {
737 serial_print_num(number);
738 serial_println();
739 }
740
741 void serial_println_char(char ch)
742 {
743 serial_write(ch);
744 serial_println();
745 }
746
747 void serial_println()
748 {
749 serial_write(13);
750 serial_write(10);
751 }
752
753 // nasleduje citanie z utltazvukoveho senzora
754
755 static volatile uint32_t pulse_start;
756 static volatile int16_t distance;
757 static volatile uint8_t new_distance;
758
759 void init_ultrasonic()
760 {
761 pinMode(US_ECHO, INPUT);
762 pinMode(US_TRIG, OUTPUT);
763
764 PCMSK0 |= 1; //PCINT0;
765 PCIFR &= ~1; //PCIF0;
766 PCICR |= 1; // PCIE0;
767 }
768
769 ISR(PCINT0_vect)
770 {
771 if (PINB & 1) pulse_start = micros();
772 else
773 {
774 distance = (int16_t)((micros() - pulse_start) / 58);
775 new_distance = 1;
776 }
777 }
778
779 void start_distance_measurement()
780 {
781 distance = 10000;
782 new_distance = 0;
783 digitalWrite(US_TRIG, HIGH);
784 delayMicroseconds(10);
785 digitalWrite(US_TRIG, LOW);
786 }
787
788 void wait_for_distance_measurement_to_complete()
789 {
790 uint8_t counter = 0;
791 while ((counter < 20) && !new_distance)
792 {
793 delay(1);
794 counter++;
795 }
796 if (counter == 20)
797 {
798 pinMode(US_ECHO, OUTPUT);
799 digitalWrite(US_ECHO, HIGH);
800 delayMicroseconds(10);
801 digitalWrite(US_ECHO, LOW);
802 pinMode(US_ECHO, INPUT);
803 delayMicroseconds(5);
804 distance = 10000;
805 }
806 }
807
808 int16_t measure_distance()
809 {
810 start_distance_measurement();
811 wait_for_distance_measurement_to_complete();
812 return distance;
813 }