Changeset b62ab59 in pyramid

Timestamp:

10/15/13 20:38:21 (7 years ago)

Author:

Steve Castellotti <sc@…>

Branches:

master

Children:

f5d44ec

Parents:

85e090e

Message:

• Rollback to Bluetooth/USB Serial input modes only

File:

• firmware/Puzzlebox_Pyramid/Puzzlebox_Pyramid.ino (modified) (28 diffs)

firmware/Puzzlebox_Pyramid/Puzzlebox_Pyramid.ino

@@ -36 +36 @@
 #include <PWM.h> //For sending 38kHz Infrared to fly Orbit helicopter
 
+
 // ADK
-#include <Max3421e.h>
-#include <Usb.h>
-#include <AndroidAccessory.h>
+// #include <Max3421e.h>
+// #include <Usb.h>
+// #include <AndroidAccessory.h>
 
 
@@ -53 +54 @@
 #define BUTTON_PIN 4
 
-// PWM IR_frequency (in Hz) required by IR
-#define IR_frequency 38400 
+//PWM IR_frequency (in Hz) required by IR
+#define IR_frequency 38400
 byte _IR_period = 40;
 
-// Global variables for controlling Orbit helicopter
-int _throttle_hover=85;
-
+//G lobal variables for controlling Orbit helicopter
 // variables start with "_" means global variable 
 char _throttle=0; //32~127, default 0
@@ -67 +66 @@
 char _command;
 byte _attention_threshold = 67; //treshold for launching Orbit helicopter
+int _throttle_hover=85;
 
 // EEG
@@ -77 +77 @@
 boolean modeSerial = false;
 boolean modeADK = false;
-
-// Android ADK
-// AndroidAccessory acc(
-//      "puzzlebox",
-// //   "PuzzleboxPyramid",
-// //   "Puzzlebox Pyramid",
-// //   "1.2",
-// //   "http://pyramid.puzzlebox.info",
-// //   "0000000012345678"
-//      "TriggerRemote",
-//      "DemoKit Arduino Board",
-//      "1.0",
-//      "http://www.android.com",
-//      "0000000012345678"
-// );
-
-AndroidAccessory acc(
-  "puzzlebox",
-  "TriggerRemote",
-  "DemoKit Arduino Board",
-  "1.0",
-  "http://www.android.com",
-  "0000000012345678"
-);
-
-byte msg[2];
-byte led;
 
 // MindWave Mobile Protocol
@@ -127 +100 @@
 
 // Bluetooth Connection with MindWave Mobile
-String retSymb = "+RTINQ=";//start symble when there's any return
-String slaveName = ";MindWave Mobile";// caution that ';'must be included, and make sure the slave name is right.
+String retSymb = "+RTINQ="; //start symble when there's any return
+String slaveName = ";MindWave Mobile"; // caution that ';'must be included, and make sure the slave name is right.
+String connectCmd = "\r\n+CONN=";
 int nameIndex = 0;
 int addrIndex = 0;
 String recvBuf;
 String slaveAddr;
-String connectCmd = "\r\n+CONN=";
 
 // RGB Panel
@@ -163 +136 @@
 
         // Android ADK
-        delay(500);
-        acc.powerOn();
-
-
+//      delay(500);
+//      acc.powerOn();
+
+        
         ////////Orbit Flight///////////
-        //initialize all timers except for 0, to save time keeping functions
+        // initialize all timers except for 0, to save time keeping functions
         InitTimersSafe(); 
 
-        //sets the IR_frequency for the specified pin
+        // sets the IR_frequency for the specified pin
         bool success = SetPinFrequencySafe(IR, IR_frequency);
 
-        //if the pin IR_frequency was set successfully, turn pin 13 on
-        if (success) {
+        // if the pin IR_frequency was set successfully, turn pin 13 on
+        if(success) {
                 Serial.println("INFO: PWM pin frequency set");  
         }
@@ -182 +155 @@
         Wire.begin(); // join i2c bus as master (address optional for master)
 
-
+        
         setStartScreen();
-
-
-        if (acc.isConnected()) {
-                modeADK = true;
-                Serial.println("INFO: ADK connection detected, setting modeADK");
-                setColorWheel(255, 0, 0); // red
-        }
-
-
+        
+        
+//      if (acc.isConnected()) {
+//              modeADK = true;
+//              Serial.println("INFO: ADK connection detected, setting modeADK");
+//              setColorWheel(255, 0, 0); // red
+//      }
+        
+        
         //////////Bluetooth///////////
+        
         if (! modeADK) {
                 
-                delay(500);
-                
-                setupBlueToothConnection();
-                
-                //wait 1s and flush the serial buffer
-                
+//              delay(500);
+        
+                setupBlueToothConnection();
+                // wait 1s and flush the serial buffer
                 delay(1000);
-                Serial.flush(); //delete?
+//              Serial.flush(); //delete?
                 Serial1.flush();
-        }
-        
+        
+        }
         
         selectInput(); // Determine method for Pyramid control
@@ -227 +199 @@
                 parseSerialInput();
         
-        else if (modeADK)
-                parseADK();
-        
-        
-        //read from button
+//      else if (modeADK)
+//              parseADK();
+        
+        
+        // Read from button
         if (digitalRead(BUTTON_PIN)){
                 RGB_Panel[11][0]=255;
@@ -245 +217 @@
         }
         
-        ////Send Flight Command through IR Emitter////
+        // Send Flight Command through IR Emitter
         if (millis()-lastLoop>_IR_period) {
                 
-                if(att_buff>_attention_threshold) {
+                if (att_buff>_attention_threshold) {
                         
                         // If detected Attention level is above the target threshold
@@ -257 +229 @@
                         _throttle=_throttle_hover;
                         
-                        
-                        //Add Settings for _yaw and _pitch here for custom flight path
+                }
+                        // Add Settings for _yaw and _pitch here for custom flight path
                         
                         sendCode(formCode(_throttle,_yaw,_pitch));
                         
-                        Serial1.flush();
-                
-                }
+                        if (modeBluetooth)
+                                Serial1.flush();
+                        
+//              }
                 
                 thisLoop = millis() - lastLoop;
@@ -275 +248 @@
                         Serial.println(thisLoop);
                 #endif
-                
+                        
                 lastLoop = millis();
         
         } // if (millis()-lastLoop>_IR_period)
 
-
-} // Main loop
+}// Main loop
 
 
@@ -290 +262 @@
         // Determine method for Pyramid control
         
-        while ( (! Serial.available()) & (! Serial1.available()) & (! acc.isConnected()) );
-        
-        if (Serial.available()) {
-                modeSerial = true;
-                Serial.println("INFO: Serial input command received, setting modeSerial");
-        }
-        
-        else if (acc.isConnected()) {
-                modeADK = true;
-                Serial1.end();
-                Serial.println("INFO: ADK connection detected, setting modeADK");
-                setColorWheel(255, 0, 0); // red
-        }
-        
-        else if (Serial1.available()) {
-                modeBluetooth = true;
-                Serial.println("INFO: Bluetooth input received, setting modeBluetooth");
-        }
+        while ( (! Serial.available()) & (! Serial1.available()) );
+        
+                if (Serial.available()) {
+                        modeSerial = true;
+                        Serial.println("INFO: Serial input command received, setting modeSerial");
+                }
+                
+                else if (Serial1.available()) {
+                        modeBluetooth = true;
+                        Serial.println("INFO: Bluetooth input received, setting modeBluetooth");
+                }
+        
+        
+//      while ( (! Serial.available()) & (! Serial1.available()) & (! acc.isConnected()) );
+//      
+//      if (Serial.available()) {
+//              modeSerial = true;
+//              Serial.println("INFO: Serial input command received, setting modeSerial");
+//      }
+//      
+//      else if (acc.isConnected()) {
+//              modeADK = true;
+//              Serial1.end();
+//              Serial.println("INFO: ADK connection detected, setting modeADK");
+//              setColorWheel(255, 0, 0); // red
+//      }
+//      
+//      else if (Serial1.available()) {
+//              modeBluetooth = true;
+//              Serial.println("INFO: Bluetooth input received, setting modeBluetooth");
+//      }
         
         
@@ -317 +302 @@
 void parseBluetooth() {
         
-        ////MindWave Mobile Protocol////
+        // MindWave Mobile Protocol
         
         if(ReadOneByte() == 170) {
@@ -372 +357 @@
                                 } // for loop
 
-                                //update RGB Panel Display
+                                
+                                // Update RGB Panel Display
 
                                 if(bigPacket) {
@@ -385 +371 @@
                                         lastReceivedPacket = millis();
                                         Serial.print("\n");
-
+                                        
                                         
                                         if (poorQuality == 200)
                                                 setColorWheel(0,255,0); // Green
-
-
-                                        //Update RGB Panel when received data from MindWave Mobile
+                                        
+                                        
+                                        // Update RGB Panel when received data from MindWave Mobile
                                         int att, med;
                                         if(attention==0) att=0;
@@ -411 +397 @@
                                         }
                                         
-                                        updateFrame(att,med,poorQuality); //update buffer
-                                        sendFrame(0);//send current buffer to RGB Panel with no delay
+                                        updateFrame(att,med,poorQuality); // update buffer
+                                        sendFrame(0);// send current buffer to RGB Panel with no delay
                                         
                                         
@@ -435 +421 @@
 // Read data from Serial1 UART on ADK
 byte ReadOneByte() {
+        
         int ByteRead;
-
+        
         while(!Serial1.available());
+        
         ByteRead = Serial1.read();
-
+        
         return ByteRead;
+        
 }
 
@@ -450 +439 @@
         setColorWheel(0,0,255); // Blue
 
-        Serial1.begin(38400); //Set Bluetooth Module BaudRate (for communicating to ADK) to default baud rate 38400
+        Serial1.begin(38400); // Set Bluetooth Module BaudRate (for communicating to ADK) to default baud rate 38400
 
         // if you want to change baudrate, say to 115200;
@@ -468 +457 @@
         if(digitalRead(BUTTON_PIN)==0){ //if needs pair
                 //update RGB Panel, Red Indicates it's pairing new headset
-                setColorWheel(0,0,0); // Black
                 RGB_Panel[5][0]=255;
                 RGB_Panel[5][1]=0;
@@ -532 +520 @@
                 Serial1.print("\r\n+STAUTO=1\r\n");// Permit Auto-connection 
                 //update bottom RGB LED to blue
-                setColorWheel(0,0,0); // Black
                 RGB_Panel[5][0]=0;
                 RGB_Panel[5][1]=0;
@@ -647 +634 @@
         
 } // sendFrame
-
-
-// ################################################################
-
-int calculateMeter(int value) {
-  
-        int result = 0;
-
-        if (value == 0)
-                result = 0;
-        else if (value <= 20)
-                result = 1;
-        else if (value <= 40)
-                result = 2;
-        else if (value <= 60)
-                result = 3;
-        else if (value <= 80)
-                result = 4;
-        else if (value <= 100)
-                result = 5;
-
-        return(result);
-  
-} // calculateMeter
-
-
-// ################################################################
-
-void updateFrameADK() {
-
-        // update RGB_Panel[][] here to set next Frame you want to send
-        // For Example:
-        // RGB_Panel[0][0]=0;
-        // RGB_Panel[0][1]=0;
-        // RGB_Panel[0][2]=255;
-        // will update the LED on 1 o'clock position to be blue.
-
-        // This following code simulates when you wear a headset.
-//      RGB_Panel[5][0]=0;
-//      RGB_Panel[5][1]=255;
-//      RGB_Panel[5][2]=0;
-
-//      int attention=random(0,7); //generates 0~6
-//      int meditation=random(0,7);
-
-
-        int attention = calculateMeter(eegAttention);
-        int meditation = calculateMeter(eegMeditation);
-
-
-        for(int i=6; i<=6+attention; i++){
-                RGB_Panel[i][0]=255;
-                RGB_Panel[i][1]=0;
-                RGB_Panel[i][2]=0;
-        }
-
-        if (meditation==6){
-                RGB_Panel[11][0]=0;
-                RGB_Panel[11][1]=0;
-                RGB_Panel[11][2]=255;
-        }
-                
-        for(int i=4; i>=4-meditation; i--){
-                RGB_Panel[i][0]=0;
-                RGB_Panel[i][1]=0;
-                RGB_Panel[i][2]=255;
-        }
-
-        if (attention==6) 
-                RGB_Panel[11][0]=255;
-                
-        for(int i=6+attention; i<=11; i++){
-                RGB_Panel[i][0]=0;
-                RGB_Panel[i][1]=0;
-                RGB_Panel[i][2]=0;
-        }
-
-        for(int i=4-meditation; i>=0; i--){
-                RGB_Panel[i][0]=0;
-                RGB_Panel[i][1]=0;
-                RGB_Panel[i][2]=0;
-        }
-
-
-} // updateFrame
 
 
@@ -751 +653 @@
         //emitCode generate LOWs between HIGHs as same as the parameter.
         if
-                (BIT) innerCycle(671,732);// 1
+                (BIT) innerCycle(671,732); // 1
         else
-                innerCycle(337,402);// 0
+                innerCycle(337,402); // 0
+        
+        
 } // emitCode
 
@@ -760 +664 @@
 
 void sendCode(long code) {
-        
-//      Serial.println("sendCode(formCode(", _throttle, ",", _yaw, ",", _pitch, "));");
-        sendCode(formCode(_throttle,_yaw,_pitch));
-        
         char n; 
         //starting code, with special time period.
@@ -769 +669 @@
         innerCycle(730,392); 
 
-        for (n=28;n>=0;n--)  emitCode((code >> n) & 1); //getting bits out from code
+        for (n=28;n>=0;n--)
+                emitCode((code >> n) & 1); //getting bits out from code
 
 } // sendCode
@@ -782 +683 @@
 
         //throttle
-        for (n=6; n>=0; n--)  bitWrite(mainCode,17+n,bitRead(throttle,n)); //getting the first 7 digits to mainCode
+        for (n=6; n>=0; n--)
+                bitWrite(mainCode,17+n,bitRead(throttle,n)); //getting the first 7 digits to mainCode
 
         bitWrite(mainCode,16,1);  //meaning unclear, possibly left button.
 
         //channel selection first half
-        if (_channel=='C') bitWrite(mainCode,15,1);
-        else bitWrite(mainCode,15,0); //this digit equals 0 in channel A or B
+        if (_channel=='C')
+                bitWrite(mainCode,15,1);
+        else
+                bitWrite(mainCode,15,0); //this digit equals 0 in channel A or B
 
         for (n=6; n>=0; n--)  bitWrite(mainCode,8+n,bitRead(yaw,n));//yaw
 
         //channel selection second half
-        if (_channel=='A') bitWrite(mainCode,7,1);
-        else bitWrite(mainCode,7,0); //if channel B or C, this digit equals 0;
-
-        bitWrite(mainCode,6,0);// meaning unclear, possibly right button.
-
-        for (n=5; n>=0; n--)  bitWrite(mainCode,n,bitRead(pitch,n));//pitch  
+        if (_channel=='A')
+                bitWrite(mainCode,7,1);
+        else
+                bitWrite(mainCode,7,0); // if channel B or C, this digit equals 0;
+
+        bitWrite(mainCode,6,0); // meaning unclear, possibly right button.
+
+        for (n=5; n>=0; n--)
+                bitWrite(mainCode,n,bitRead(pitch,n)); //pitch  
                 
         // CheckSum
-        for (n=0; n<=20; n=n+4)  checkSum += ((mainCode >> n) & B1111);//sum up every 4 digits in the code
-
-        checkSum=checkSum & B1111; //get the last 4 bits of the sum
-        checkSum=(16-checkSum) & B1111;//16-sum is the formula of this helicopter
+        for (n=0; n<=20; n=n+4)
+                checkSum += ((mainCode >> n) & B1111); // sum up every 4 digits in the code
+
+        checkSum=checkSum & B1111; // get the last 4 bits of the sum
+        checkSum=(16-checkSum) & B1111;// 16-sum is the formula of this helicopter
 
         mainCode= (mainCode << 5) | (checkSum << 1); //get the last 4 digit of CheckSum
 
-        bitWrite(mainCode,0,1);  //finish code
-        return mainCode; //mainCode is a 29 bit binary number
+        bitWrite(mainCode,0,1);  // finish code
+        return mainCode; // mainCode is a 29 bit binary number
 } // formCode
 
@@ -1036 +944 @@
 // ################################################################
 
-///////////Serial Input///////////
 void parseSerialInput() {
         
         if (Serial.available() > 0)  {
                 
-//              if (! modeSerial)
-//                      Serial.println("INFO: Serial input command received, setting modeSerial");
-//                      modeSerial = true;
+                if (! modeSerial)
+                        Serial.println("INFO: Serial input command received, setting modeSerial");
+                        modeSerial = true;
+                        
+                        Serial1.end();
+                        modeBluetooth = false;
+                        modeADK = false;
                 
                 
                 setColorWheel(255, 128, 0);
                 
-                
-//              Serial.print("Serial.available(): ");
-//              Serial.println(Serial.available());
                 
                 _command = Serial.read();
@@ -1059 +967 @@
                 switch (_command) {
                         
-                        case 'P': _throttle=_throttle_hover; Serial.print("_throttle="); Serial.println(int(_throttle)); break;
+                        case 'P': _throttle=_throttle_hover; setColorWheel(255,255,255); 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;
@@ -1083 +991 @@
 
 
-// ################################################################
-
-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() {
-        
-        // Android ADK
-        
-        if (acc.isConnected()) {
-                
-                int len = acc.read(msg, sizeof(msg), 1);
-                
-                if (! modeADK) {
-                        Serial.println("INFO: ADK connection detected, setting modeADK");
-                        modeADK = true;
-                }
-                
-                // Action taken by Arduino is tied to the message it receives from Android
-                
-                if (len > 0) {
-                        
-                        setColorWheel(255,255,255); // White
-                        
-                        if (msg[0] == 0x1) {
-                                // Reserved
-                        }
-                        else if(msg[0] == 0x2) {
-                                // Reserved
-                        }
-                        else if (msg[0] == 0x3) {
-                                // Reserved
-                        }
-                        
-                        // EEG Signal
-                        else if (msg[0] == 0x4) {
-                                eegSignal = 0;
-                                if (msg[1] == 0x1) {
-                                        eegSignal = 10;
-                                } else if (msg[1] == 0x2) {
-                                        eegSignal = 20;
-                                } else if (msg[1] == 0x3) {
-                                        eegSignal = 30;
-                                } else if (msg[1] == 0x4) {
-                                        eegSignal = 40;
-                                } else if (msg[1] == 0x5) {
-                                        eegSignal = 50;
-                                } else if (msg[1] == 0x6) {
-                                        eegSignal = 60;
-                                } else if (msg[1] == 0x7) {
-                                        eegSignal = 70;
-                                } else if (msg[1] == 0x8) {
-                                        eegSignal = 80;
-                                } else if (msg[1] == 0x9) {
-                                        eegSignal = 90;
-                                } else {
-                                        eegSignal = 100;
-                                }
-                        }
-                        
-                        
-                        // EEG Attention
-                        else if (msg[0] == 0x5) {
-                                eegAttention = 0;
-                                if (msg[1] == 0x1) {
-                                        eegAttention = 10;
-                                } else if (msg[1] == 0x2) {
-                                        eegAttention = 20;
-                                } else if (msg[1] == 0x3) {
-                                        eegAttention = 30;
-                                } else if (msg[1] == 0x4) {
-                                        eegAttention = 40;
-                                } else if (msg[1] == 0x5) {
-                                        eegAttention = 50;
-                                } else if (msg[1] == 0x6) {
-                                        eegAttention = 60;
-                                } else if (msg[1] == 0x7) {
-                                        eegAttention = 70;
-                                } else if (msg[1] == 0x8) {
-                                        eegAttention = 80;
-                                } else if (msg[1] == 0x9) {
-                                        eegAttention = 90;
-                                } else {
-                                        eegAttention = 100;
-                                }
-                        }
-                        
-                        
-                        // EEG Meditation
-                        else if (msg[0] == 0x6) {
-                                eegMeditation = 0;
-                                if (msg[1] == 0x1) {
-                                        eegMeditation = 10;
-                                } else if (msg[1] == 0x2) {
-                                        eegMeditation = 20;
-                                } else if (msg[1] == 0x3) {
-                                        eegMeditation = 30;
-                                } else if (msg[1] == 0x4) {
-                                        eegMeditation = 40;
-                                } else if (msg[1] == 0x5) {
-                                        eegMeditation = 50;
-                                } else if (msg[1] == 0x6) {
-                                        eegMeditation = 60;
-                                } else if (msg[1] == 0x7) {
-                                        eegMeditation = 70;
-                                } else if (msg[1] == 0x8) {
-                                        eegMeditation = 80;
-                                } else if (msg[1] == 0x9) {
-                                        eegMeditation = 90;
-                                } else {
-                                        eegMeditation = 100;
-                                }
-                        }
-                        
-                        
-//                      updateFrame(eegAttention, eegMeditation, eegSignal);
-                        updateFrameADK();
-                        
-                        
-                        // 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(80); //cycle();
-                }
-        } // if acc.isConnected()
-
-
-} // parseADK
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