Changeset 85e090e in pyramid

Timestamp:

10/15/13 19:32:58 (7 years ago)

Author:

Steve Castellotti <sc@…>

Branches:

master

Children:

b62ab59

Parents:

5202e8d

Message:

Pyramid.ino:

• ADK working version

File:

• firmware/Puzzlebox_Pyramid/Puzzlebox_Pyramid.ino (modified) (11 diffs)

firmware/Puzzlebox_Pyramid/Puzzlebox_Pyramid.ino

@@ -28 +28 @@
 Original Author: Hao Zhang <hz@puzzlebox.info>
 
-Last Modified 2013-10-10
+Last Modified 2013-10-15
 by Steve Castellotti <sc@puzzlebox.info>
 
@@ -58 +58 @@
 
 // Global variables for controlling Orbit helicopter
+int _throttle_hover=85;
+
 // variables start with "_" means global variable 
 char _throttle=0; //32~127, default 0
@@ -196 +198 @@
                 delay(500);
                 
-//              setupBlueToothConnection();
+                setupBlueToothConnection();
                 
                 //wait 1s and flush the serial buffer
@@ -253 +255 @@
                         // to land.
                         
-                        _throttle=85;
+                        _throttle=_throttle_hover;
                         
                         
@@ -728 +730 @@
         }
 
+
 } // updateFrame
 
@@ -757 +760 @@
 
 void sendCode(long code) {
+        
+//      Serial.println("sendCode(formCode(", _throttle, ",", _yaw, ",", _pitch, "));");
+        sendCode(formCode(_throttle,_yaw,_pitch));
+        
         char n; 
         //starting code, with special time period.
@@ -1052 +1059 @@
                 switch (_command) {
                         
-                        case 'P': _throttle=85; Serial.print("_throttle="); Serial.println(int(_throttle)); break;
+                        case 'P': _throttle=_throttle_hover; Serial.print("_throttle="); Serial.println(int(_throttle)); break;
                         case 'O': _throttle=0; Serial.print("_throttle="); Serial.println(int(_throttle)); break;
                         case 'U':  _throttle+=1;  Serial.print("_throttle="); Serial.println(int(_throttle)); break;
@@ -1078 +1085 @@
 // ################################################################
 
+void setOrbitThrottle(int throttle) {
+        
+        setColorWheel(255,255,0); // Yellow
+        
+        _throttle=throttle;
+        setThrottle();
+        sendCode(formCode(_throttle,_yaw,_pitch));
+        delay(80); // originally 36, 51, 66, 80
+} // setOrbitThrottle
+
+
+// ################################################################
+
 void parseADK() {
         
@@ -1094 +1114 @@
                 
                 if (len > 0) {
+                        
+                        setColorWheel(255,255,255); // White
+                        
                         if (msg[0] == 0x1) {
                                 // Reserved
@@ -1183 +1206 @@
                                 }
                         }
-                
-                
+                        
+                        
 //                      updateFrame(eegAttention, eegMeditation, eegSignal);
                         updateFrameADK();
-                        sendFrame(1000);
-                
+                        
+                        
+                        // Orbit Throttle
+                        if (msg[0] == 0x7) {
+                                
+                                Serial.println(" (msg[0] == 0x7) ");
+                                
+                                int throttle = 0;
+                                
+                                if (msg[1] == 0x1) {
+                                        throttle = _throttle_hover;
+                                        Serial.println(" (msg[1] == 0x1) ");
+}
+                                else if (msg[1] == 0x0)
+                                        Serial.println(" (msg[1] == 0x0) ");
+                                
+                                setOrbitThrottle(throttle);
+                        
+                        } else {
+                                
+//                              sendFrame(1000);
+                                sendFrame(0);
+                                sendCode(formCode(_throttle,_yaw,_pitch));
+                                delay(80); //cycle();
+                        }
+                        
+                        setColorWheel(255,0,0); // Red
                 
                 } // len
                 else {
 //                      setColorWheel(255, 0, 0); // red
-                        delay(10); //cycle();
+                        delay(80); //cycle();
                 }
         } // if acc.isConnected()
@@ -1230 +1278 @@
 
 
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