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114 lines
2.8 KiB
114 lines
2.8 KiB
#include <Wire.h>
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#include <Adafruit_PWMServoDriver.h>
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Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
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#define SERVOMIN 330 // this is the 'minimum' pulse length count (out of 4096) - increasing SERVOMIN decrease speed
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#define SERVOMAX 390 // this is the 'maximum' pulse length count (out of 4096)
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#define TIMER 200
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#define SERVODIVIDER 5
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const char HEADER = 'H';
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const char A_TAG = 'M';
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const char B_TAG = 'X';
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const char C_TAG = 'U';
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const int TOTAL_BYTES = 10 ; // the total bytes in a message
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int atomPins[] = {2,3,4,5,6,7,8,9};
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int currentValue = 0;
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int values[] = {0,0,0,0,0,0,0,0};
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int cycle = 0;
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void setup() {
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Serial.begin(9600);
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for(int i=0; i<8; i++) {
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pinMode(atomPins[i], OUTPUT);
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pwm.setPWM(i, 0, ((SERVOMAX-SERVOMIN)/2)+SERVOMIN);
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}
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pinMode(13, OUTPUT);
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digitalWrite(13, HIGH);
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pwm.begin();
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pwm.setPWMFreq(60); // Analog servos run at ~60 Hz updates
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delay(10);
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}
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void setServoPulse(uint8_t n, double pulse) {
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double pulselength;
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pulselength = 1000000; // 1,000,000 us per second
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pulselength /= 60; // 60 Hz
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Serial.print(pulselength); Serial.println(" us per period");
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pulselength /= 4096; // 12 bits of resolution
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Serial.print(pulselength); Serial.println(" us per bit");
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pulse *= 1000000; // convert to us
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pulse /= pulselength;
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Serial.println(pulse);
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pwm.setPWM(n, 0, pulse);
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}
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void loop() {
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cycle = 0;
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for(int i=0; i<8; i++) {
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values[i] = 0;
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}
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if(Serial.available() >= TOTAL_BYTES) {
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if( Serial.read() == HEADER) {
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char tag = Serial.read();
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if(tag == A_TAG || tag == B_TAG) {
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for(int i=0; i<8; i++) {
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values[i] = Serial.read();
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}
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}
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if(tag == C_TAG) {
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for(int i=0; i<8; i++) {
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pwm.setPWM(i, 0, SERVOMAX+50);
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delay(100*SERVODIVIDER);
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pwm.setPWM(i, 0, ((SERVOMAX-SERVOMIN)/2)+SERVOMIN);
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}
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} else {
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if(tag == A_TAG) {
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for(int i=0; i<8; i++) {
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pwm.setPWM(i, 0, SERVOMIN+50);
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delay(100*SERVODIVIDER);
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pwm.setPWM(i, 0, ((SERVOMAX-SERVOMIN)/2)+SERVOMIN-50);
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}
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}
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for(int i=0; i<8; i++) {
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pwm.setPWM(i, 0, SERVOMIN);
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delay(values[i]*SERVODIVIDER);
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pwm.setPWM(i, 0, ((SERVOMAX-SERVOMIN)/2)+SERVOMIN);
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}
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if(tag == A_TAG) {
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while(cycle < 8) {
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for(int i=0; i<8; i++) {
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Serial.print(values[i]);
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Serial.print(" ");
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if(values[i]>0) {
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values[i]--;
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digitalWrite(atomPins[i], HIGH);
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if(values[i]==0) {
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cycle++;
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digitalWrite(atomPins[i], LOW);
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}
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}
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}
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Serial.println("");
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delay(TIMER);
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}
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}
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}
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}
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}
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}
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