Changeset 94b751c in pyramid

Timestamp:

10/10/13 03:37:33 (7 years ago)

Author:

Steve Castellotti <sc@…>

Branches:

master

Children:

f1b827c

Parents:

0b675ba

Message:

• Will correctly operating in either Bluetooth or USB Serial input modes

File:

• firmware/Puzzlebox_Pyramid/Puzzlebox_Pyramid.ino (modified) (12 diffs)

firmware/Puzzlebox_Pyramid/Puzzlebox_Pyramid.ino

@@ -37 +37 @@
 
 
-#define DEBUG_OUTPUT 1 //1 for debug
+#define DEBUG_OUTPUT 0 // 1 for debug, 2 for verbose
 
 
@@ -60 +60 @@
 char _command;
 byte _attention_threshold = 67; //treshold for launching Orbit helicopter
+
+// Operation mode
+boolean modeBluetooth = false;
+boolean modeSerial = false;
+boolean modeADK = false;
 
 ///////////////MindWave Mobile Protocol///////////
@@ -81 +86 @@
 long lastReceivedPacket = 0;
 long lastLoop = 0;
+long thisLoop = 0;
 boolean bigPacket = false;
 
@@ -141 +147 @@
         Serial.flush();//delete?
         Serial1.flush();
-} 
+        
+        
+        selectInput(); // Determine method for Pyramid control
+        
+        
+} // setup
 
 
@@ -151 +162 @@
 void loop() {
         
-        parseBluetooth();
-        
-        //  parseSerialInput();
+        if (modeBluetooth)
+                parseBluetooth();
+        
+        else if (modeSerial)
+                parseSerialInput();
+        
+        
+        //read from button
+        if (digitalRead(BUTTON_PIN)){
+                RGB_Panel[11][0]=255;
+                RGB_Panel[11][1]=255;
+                RGB_Panel[11][2]=255;
+                digitalWrite(13,HIGH);
+        }
+        else {
+                RGB_Panel[11][0]=0;
+                RGB_Panel[11][1]=0;
+                RGB_Panel[11][2]=0;
+                digitalWrite(13,LOW);
+        }
         
         ////Send Flight Command through IR Emitter////
         if (millis()-lastLoop>_IR_period) {
+                
                 if(att_buff>_attention_threshold) {
                         _throttle=85;
@@ -166 +195 @@
                         
                         Serial1.flush();
+                        
                 }
                 
+                thisLoop = millis() - lastLoop;
+                
                 #if DEBUG_OUTPUT
-                Serial.print(" Attention:");
-                Serial.print(att_buff);
-                Serial.print(" | Time per loop:");
-                Serial.println(millis() - lastLoop, DEC);
+                        Serial.print(" Attention:");
+                        Serial.print(att_buff);
+                        Serial.print(" | Time per loop:");
+                        // Serial.println(millis() - lastLoop, DEC);
+                        Serial.println(thisLoop);
+                #endif
+                        
                 lastLoop = millis();
-                #endif
         
         } // if (millis()-lastLoop>_IR_period)
@@ -183 +217 @@
 // ################################################################
 
+void selectInput() {
+        
+        // Determine method for Pyramid control
+        
+        while ( (! Serial.available()) & (! Serial1.available()) );
+        
+                if (Serial.available())
+                        modeSerial = true;
+                else if (Serial1.available())
+                        modeBluetooth = true;
+        
+} // selectInput
+
+
+// ################################################################
+
 void parseBluetooth() {
         
@@ -188 +238 @@
         
         if(ReadOneByte() == 170) {
+                
+                if (! modeBluetooth)
+                        Serial.println("INFO: Bluetooth input command received, setting modeBluetooth");
+                        modeBluetooth = true;
                 
                 if(ReadOneByte() == 170) {
@@ -239 +293 @@
 
                                 if(bigPacket) {
-                                        Serial.print("PoorQuality: ");
+                                        Serial.print("SignalQuality: ");
                                         Serial.print(poorQuality, DEC);
                                         Serial.print(" Attention: ");
@@ -280 +334 @@
                         else {
                                 #if DEBUG_OUTPUT
-                                Serial.println("Checksum Error!");
-                                // Checksum Error
+                                        Serial.println("Checksum Error!");
+                                        // Checksum Error
                                 #endif
                         }  // end if else for checksum
                 } // end if read 0xAA byte (170)
         } // end if read 0xAA byte (170)
-
-        //read from button
-        if (digitalRead(BUTTON_PIN)){
-                RGB_Panel[11][0]=255;
-                RGB_Panel[11][1]=255;
-                RGB_Panel[11][2]=255;
-                digitalWrite(13,HIGH);
-        }
-        else {
-                RGB_Panel[11][0]=0;
-                RGB_Panel[11][1]=0;
-                RGB_Panel[11][2]=0;
-                digitalWrite(13,LOW);
-        }
-
 
 } // parseBluetooth
@@ -762 +801 @@
         if (Serial.available() > 0)  {
                 
+                if (! modeSerial)
+                        Serial.println("INFO: Serial input command received, setting modeSerial");
+                        modeSerial = true;
+                
 //              Serial.print("Serial.available(): ");
 //              Serial.println(Serial.available());
@@ -789 +832 @@
                 }
         }
+        
+        sendCode(formCode(_throttle,_yaw,_pitch));
+        delay(80); //originally 36, 51, 66, 80
 
 } // parseSerialInput()
 
+
+
+
+
+