-
Notifications
You must be signed in to change notification settings - Fork 0
/
rangerworking.ino
176 lines (160 loc) · 5.37 KB
/
rangerworking.ino
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
#include<Servo.h>
//2, 3, 4, 5, 6, 7, 46
Servo front_right_vertical;
Servo front_left_vertical;
Servo back_right_vertical;
Servo back_left_vertical;
Servo front_right_horizontal;
Servo front_left_horizontal;
Servo back_right_horizontal;
Servo back_left_horizontal;
Servo claw;
Servo claw_rotate;
Servo camera_one;
Servo camera_two;
int thrusters_on;
void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
Serial.println("RESET");
//8, 46, 5, 7
//3, 6, 4, 2
front_right_vertical.attach(5); // 5
front_left_vertical.attach(2);
back_right_vertical.attach(6); //6 and 46
back_left_vertical.attach(7);
front_right_horizontal.attach(8); //8
front_left_horizontal.attach(4); //4
back_right_horizontal.attach(46); //46
back_left_horizontal.attach(3);
claw.attach(9);
claw_rotate.attach(10);
camera_one.attach(11);
camera_two.attach(45);
front_right_vertical.writeMicroseconds(1500);
front_left_vertical.writeMicroseconds(1500);
back_right_vertical.writeMicroseconds(1500);
back_left_vertical.writeMicroseconds(1500);
front_right_horizontal.writeMicroseconds(1500);
front_left_horizontal.writeMicroseconds(1500);
back_right_horizontal.writeMicroseconds(1500);
back_left_horizontal.writeMicroseconds(1500);
claw.write(1500);
claw_rotate.write(1225);
camera_one.write(1500);
camera_two.write(1500);
thrusters_on = -10000;
delay(7000);
Serial.println("ready");
}
void loop() {
Serial.println("Hi");
while (Serial.available()) {
String input = Serial.readStringUntil('x');
int dir = input.substring(0, 1).toInt();
int misc = input.substring(1, 2).toInt();
int multiplier = 380;
float val = input.substring(2, input.length() - 1).toFloat();
int thruster_value = val * multiplier;
Serial.println("direction " + String(dir) + " thruster_value " + String(thruster_value));
if (dir == 4) {
claw.write((val * 700) + 1500);
}
if (dir == 5) {
claw_rotate.write((val * 750) + 1500);
// if (val >= 0.0){
// claw_rotate.write((val * 750) + 1500);
// }
// else{
// claw_rotate.write((val * 750) + 1500);
// }
}
if (dir == 6) {
camera_one.write((val * 400) + 1500);
}
if (dir == 7) {
camera_two.write((val * 400) + 1500);
}
//sway MIGHT NEED FIX
if (dir == 0) {
// Serial.println("writing values to FRH, BRH, FLH, BLH");
if (thruster_value != 0.0) {
thrusters_on += 4;
}
else {
thrusters_on -= 4;
}
front_right_vertical.writeMicroseconds(1500);
back_right_vertical.writeMicroseconds(1500);
front_left_vertical.writeMicroseconds(1500);
back_left_vertical.writeMicroseconds(1500);
if (thrusters_on == 4) {
thruster_value += 100;
}
front_right_horizontal.writeMicroseconds(thruster_value + 1500);
back_right_horizontal.writeMicroseconds(thruster_value + 1500);
front_left_horizontal.writeMicroseconds(thruster_value + 1500);
back_left_horizontal.writeMicroseconds(thruster_value + 1500);
}
//surge
else if (dir == 1) {
if (thruster_value != 0.0) {
thrusters_on += 4;
}
else {
thrusters_on -= 4;
}
front_right_vertical.writeMicroseconds(1500);
back_right_vertical.writeMicroseconds(1500);
front_left_vertical.writeMicroseconds(1500);
back_left_vertical.writeMicroseconds(1500);
if (thrusters_on == 4) {
thruster_value += 100;
}
front_right_horizontal.writeMicroseconds(thruster_value + 1500);
front_left_horizontal.writeMicroseconds(-1 * thruster_value + 1500);
back_right_horizontal.writeMicroseconds(-1 * thruster_value + 1500);
back_left_horizontal.writeMicroseconds(thruster_value + 1500);
}
//heave
else if (dir == 3) {
if (thruster_value != 0.0) {
thrusters_on += 4;
}
else {
thrusters_on -= 4;
}
front_right_horizontal.writeMicroseconds(1500);
back_right_horizontal.writeMicroseconds(1500);
front_left_horizontal.writeMicroseconds(1500);
back_left_horizontal.writeMicroseconds(1500);
if (thrusters_on == 4) {
thruster_value += 100;
}
front_right_vertical.writeMicroseconds(thruster_value + 1500);
front_left_vertical.writeMicroseconds(thruster_value * -1 + 1500);
back_right_vertical.writeMicroseconds(thruster_value * -1 + 1500);
back_left_vertical.writeMicroseconds(thruster_value + 1500);
}
//yaw
else if (dir == 2) {
if (thruster_value != 0.0) {
thrusters_on += 4;
}
else {
thrusters_on -= 4;
}
front_right_vertical.writeMicroseconds(1500);
back_right_vertical.writeMicroseconds(1500);
front_left_vertical.writeMicroseconds(1500);
back_left_vertical.writeMicroseconds(1500);
if (thrusters_on == 4) {
thruster_value += 100;
}
front_right_horizontal.writeMicroseconds(thruster_value + 1500);
back_right_horizontal.writeMicroseconds(-1 * thruster_value + 1500);
front_left_horizontal.writeMicroseconds(thruster_value + 1500);
back_left_horizontal.writeMicroseconds(thruster_value * -1+ 1500);
}
}
}