Changes

User:Hamsammich

43,433 bytes added, 22:53, 18 March 2010

no edit summary

________________

FINAL DOCUMENTATION:

[[Image:Truck.jpg]]

[[Image:Remote.jpg]]

[[Image:Breadboard.jpg]]

[[Image:Trans.jpg]]

[[Image:Arduino.jpg]]

[[Image:Remote2.jpg]]

[[Image:Remote3.jpg]]

[[Image:Trans2.jpg]]

[[Image:Ipod.jpg]]

Code used for Final:

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#X text 397 483 released under the GNU GPL v2 or later;

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#X text 13 6 The [arduino] object works with the Firmata firmware for

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#X obj 127 170 print STRING;

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#X connect 0 0 3 0;

#X connect 0 0 5 0;

#X connect 1 0 2 0;

#X connect 3 0 4 0;

#X connect 3 1 1 0;

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Code for Arduino (Standard Firmata)

/*

This library is free software; you can redistribute it and/or

modify it under the terms of the GNU Lesser General Public

License as published by the Free Software Foundation; either

version 2.1 of the License, or (at your option) any later version.

See file LICENSE.txt for further informations on licensing terms.

formatted using the GNU C formatting and indenting

*/

/*

* TODO: use Program Control to load stored profiles from EEPROM

*/

#include <Firmata.h>

#include <Servo.h>

/*==============================================================================

* GLOBAL VARIABLES

*============================================================================*/

/* analog inputs */

int analogInputsToReport = 0; // bitwise array to store pin reporting

int analogPin = 0; // counter for reading analog pins

/* digital pins */

byte reportPINs[TOTAL_PORTS]; // PIN == input port

byte previousPINs[TOTAL_PORTS]; // PIN == input port

byte pinStatus[TOTAL_DIGITAL_PINS]; // store pin status, default OUTPUT

byte portStatus[TOTAL_PORTS];

/* timer variables */

unsigned long currentMillis; // store the current value from millis()

unsigned long nextExecuteMillis; // for comparison with currentMillis

int samplingInterval = 19; // how often to run the main loop (in ms)

Servo servos[MAX_SERVOS];

/*==============================================================================

* FUNCTIONS

*============================================================================*/

void outputPort(byte portNumber, byte portValue)

{

portValue = portValue &~ portStatus[portNumber];

if(previousPINs[portNumber] != portValue) {

Firmata.sendDigitalPort(portNumber, portValue);

previousPINs[portNumber] = portValue;

Firmata.sendDigitalPort(portNumber, portValue);

}

/* -----------------------------------------------------------------------------

* check all the active digital inputs for change of state, then add any events

* to the Serial output queue using Serial.print() */

void checkDigitalInputs(void)

{

byte i, tmp;

for(i=0; i < TOTAL_PORTS; i++) {

if(reportPINs[i]) {

switch(i) {

case 0:

outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1

break;

case 1:

outputPort(1, PINB);

break;

case ANALOG_PORT:

outputPort(ANALOG_PORT, PINC);

break;

}

// -----------------------------------------------------------------------------

/* sets the pin mode to the correct state and sets the relevant bits in the

* two bit-arrays that track Digital I/O and PWM status

*/

void setPinModeCallback(byte pin, int mode) {

byte port = 0;

byte offset = 0;

// TODO: abstract for different boards

if (pin < 8) {

port = 0;

offset = 0;

} else if (pin < 14) {

port = 1;

offset = 8;

} else if (pin < 22) {

port = 2;

offset = 14;

}

if(pin > 1) { // ignore RxTx (pins 0 and 1)

if (isServoSupportedPin(pin) && mode != SERVO)

if (servos[pin - FIRST_SERVO_PIN].attached())

servos[pin - FIRST_SERVO_PIN].detach();

if(pin > 13)

reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting

switch(mode) {

case ANALOG:

digitalWrite(pin, LOW); // disable internal pull-ups and fall thru to 'case INPUT:'

case INPUT:

pinStatus[pin] = mode;

pinMode(pin, INPUT);

portStatus[port] = portStatus[port] &~ (1 << (pin - offset));

break;

case OUTPUT:

digitalWrite(pin, LOW); // disable PWM and fall thru to 'case PWM:'

case PWM:

pinStatus[pin] = mode;

pinMode(pin, OUTPUT);

portStatus[port] = portStatus[port] | (1 << (pin - offset));

break;

case SERVO:

// TODO: Support Arduino Mega

if (isServoSupportedPin(pin)) {

pinStatus[pin] = mode;

if (!servos[pin - FIRST_SERVO_PIN].attached())

servos[pin - FIRST_SERVO_PIN].attach(pin);

} else

Firmata.sendString("Servo only on pins from 2 to 13");

break;

case I2C:

pinStatus[pin] = mode;

Firmata.sendString("I2C mode not yet supported");

break;

default:

Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM

}

// TODO: save status to EEPROM here, if changed

}

void analogWriteCallback(byte pin, int value)

{

switch(pinStatus[pin]) {

case SERVO:

if (isServoSupportedPin(pin))

servos[pin - FIRST_SERVO_PIN].write(value);

break;

case PWM:

analogWrite(pin, value);

break;

}

void digitalWriteCallback(byte port, int value)

{

switch(port) {

case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1)

// 0xFF03 == B1111111100000011 0x03 == B00000011

PORTD = (value &~ 0xFF03) | (PORTD & 0x03);

break;

case 1: // pins 8-13 (14,15 are disabled for the crystal)

PORTB = (byte)value;

break;

case 2: // analog pins used as digital

byte pin;

byte pinModeMask;

for(pin=0; pin<8; pin++)

if(pinStatus[pin] == OUTPUT)

pinModeMask += 1 << pin;

PORTC = (byte)value & pinModeMask;

break;

}

// -----------------------------------------------------------------------------

/* sets bits in a bit array (int) to toggle the reporting of the analogIns

*/

//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {

//}

void reportAnalogCallback(byte pin, int value)

{

if(value == 0) {

analogInputsToReport = analogInputsToReport &~ (1 << pin);

}

else { // everything but 0 enables reporting of that pin

analogInputsToReport = analogInputsToReport | (1 << pin);

}

// TODO: save status to EEPROM here, if changed

}

void reportDigitalCallback(byte port, int value)

{

reportPINs[port] = (byte)value;

if(port == ANALOG_PORT) // turn off analog reporting when used as digital

analogInputsToReport = 0;

}

/*==============================================================================

* SYSEX-BASED commands

*============================================================================*/

void sysexCallback(byte command, byte argc, byte *argv)

{

switch(command) {

case SERVO_CONFIG:

if(argc > 4) {

// these vars are here for clarity, they'll optimized away by the compiler

byte pin = argv[0];

int minPulse = argv[1] + (argv[2] << 7);

int maxPulse = argv[3] + (argv[4] << 7);

if (isServoSupportedPin(pin)) {

// servos are pins from 2 to 13, so offset for array

if (servos[pin - FIRST_SERVO_PIN].attached())

servos[pin - FIRST_SERVO_PIN].detach();

servos[pin - FIRST_SERVO_PIN].attach(pin, minPulse, maxPulse);

setPinModeCallback(pin, SERVO);

}

break;

case SAMPLING_INTERVAL:

if (argc > 1)

samplingInterval = argv[0] + (argv[1] << 7);

else

Firmata.sendString("Not enough data");

break;

}

boolean isServoSupportedPin(byte pin)

{

return ((FIRST_SERVO_PIN <= pin) && (pin <= (FIRST_SERVO_PIN + MAX_SERVOS)));

}

/*==============================================================================

* SETUP()

*============================================================================*/

void setup()

{

byte i;

Firmata.setFirmwareVersion(2, 1);

Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);

Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);

Firmata.attach(REPORT_ANALOG, reportAnalogCallback);

Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);

Firmata.attach(SET_PIN_MODE, setPinModeCallback);

Firmata.attach(START_SYSEX, sysexCallback);

portStatus[0] = B00000011; // ignore Tx/RX pins

portStatus[1] = B11000000; // ignore 14/15 pins

portStatus[2] = B00000000;

for(i=0; i < FIRST_ANALOG_PIN; ++i) {

setPinModeCallback(i,OUTPUT);

}

// set all outputs to 0 to make sure internal pull-up resistors are off

PORTB = 0; // pins 8-15

PORTC = 0; // analog port

PORTD = 0; // pins 0-7

// TODO rethink the init, perhaps it should report analog on default

for(i=0; i<TOTAL_PORTS; ++i) {

reportPINs[i] = false;

}

// TODO: load state from EEPROM here

/* send digital inputs here, if enabled, to set the initial state on the

* host computer, since once in the loop(), this firmware will only send

* digital data on change. */

if(reportPINs[0]) outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1

if(reportPINs[1]) outputPort(1, PINB);

if(reportPINs[ANALOG_PORT]) outputPort(ANALOG_PORT, PINC);

Firmata.begin(57600);

}

/*==============================================================================

* LOOP()

*============================================================================*/

void loop()

{

/* DIGITALREAD - as fast as possible, check for changes and output them to the

* FTDI buffer using Serial.print() */

checkDigitalInputs();

currentMillis = millis();

if(currentMillis > nextExecuteMillis) {

nextExecuteMillis = currentMillis + samplingInterval;

/* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle

* all serialReads at once, i.e. empty the buffer */

while(Firmata.available())

Firmata.processInput();

/* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over

* 60 bytes. use a timer to sending an event character every 4 ms to

* trigger the buffer to dump. */

/* ANALOGREAD - right after the event character, do all of the

* analogReads(). These only need to be done every 4ms. */

for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {

if( analogInputsToReport & (1 << analogPin) ) {

Firmata.sendAnalog(analogPin, analogRead(analogPin));

}

TouchOSC patch

***CANT UPLOAD ACTUAL FILE*****

Hamsammich

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