Merge remote-tracking branch 'origin/main'

electrical_code/arduino_nano/arduino_nano.ino

@@ -0,0 +1,100 @@
+// Motor 1 - Left
+int leftMotor1 = 8;
+int leftMotor2 = 7;
+
+// Motor 2 - Right
+int rightMotor1 = 6;
+int rightMotor2 = 5;
+
+int angle;
+int dist;
+String inputString;
+
+// forward = pin 1 high
+
+void goForward(int delay_time) {
+  // Set both left and right motors to move forward
+  digitalWrite(leftMotor1, HIGH);
+  digitalWrite(leftMotor2, LOW);
+  digitalWrite(rightMotor1, HIGH);
+  digitalWrite(rightMotor2, LOW);
+
+  delay(delay_time);
+  digitalWrite(leftMotor1, LOW);
+  digitalWrite(leftMotor2, LOW);
+  digitalWrite(rightMotor1, LOW);
+  digitalWrite(rightMotor2, LOW);
+
+}
+
+// backward = pin 2 high
+void goBackward(int delay_time ) {
+  digitalWrite(leftMotor1, LOW);
+  digitalWrite(leftMotor2, HIGH);
+  digitalWrite(rightMotor1, LOW);
+  digitalWrite(rightMotor2, HIGH);
+
+  delay(delay_time);
+  digitalWrite(leftMotor1, LOW);
+  digitalWrite(leftMotor2, LOW);
+  digitalWrite(rightMotor1, LOW);
+  digitalWrite(rightMotor2, LOW);
+
+}
+
+void turnLeft(int delay_time) {
+  // Set left motor backward and right motor forward for turning left
+  digitalWrite(leftMotor1, LOW);
+  digitalWrite(leftMotor2, HIGH);
+  digitalWrite(rightMotor1, HIGH);
+  digitalWrite(rightMotor2, LOW);
+
+  delay(delay_time);
+  digitalWrite(leftMotor1, LOW);
+  digitalWrite(leftMotor2, LOW);
+  digitalWrite(rightMotor1, LOW);
+  digitalWrite(rightMotor2, LOW);
+
+}
+
+void turnRight(int delay_time) {
+  // Set left motor forward and right motor backward for turning right
+  digitalWrite(leftMotor1, HIGH);
+  digitalWrite(leftMotor2, LOW);
+  digitalWrite(rightMotor1, LOW);
+  digitalWrite(rightMotor2, HIGH);
+
+  delay(delay_time);
+  digitalWrite(leftMotor1, LOW);
+  digitalWrite(leftMotor2, LOW);
+  digitalWrite(rightMotor1, LOW);
+  digitalWrite(rightMotor2, LOW);
+
+}
+
+void setup() {
+  Serial.begin(115200);
+  // Initialize all motor pins as outputs
+  pinMode(leftMotor1, OUTPUT);
+  pinMode(leftMotor2, OUTPUT);
+  pinMode(rightMotor1, OUTPUT);
+  pinMode(rightMotor2, OUTPUT);
+
+}
+
+void  loop() {
+  while (!Serial.available());
+
+  // Receiving Data from Computer
+  if (Serial.available() > 0) {
+    inputString = Serial.readStringUntil('\n');
+  }
+  // 3 characters - angle
+  // 3 characters - distance
+  angle = inputString.substring(0, 3).toInt();
+  dist = inputString.substring(3, 7).toInt();
+
+  turnRight(angle * 100);
+  goForward(dist * 100);
+
+}

electrical_code/arduino_uno/arduino_uno.ino

@@ -0,0 +1,122 @@
+/*
+Arduino Uno handles Lidar data
+*/
+
+#include <SoftwareSerial.h>
+
+const int stepPin = 4;
+const int enPin = 2;
+const int dirPin = 3;
+int totalSteps = 0;
+float currentAngle = 0;
+const int STEPS = 1600; // resolution || 1600 steps per rev (on motor driver)
+const float angle_per_step = 360.0 / float(STEPS);
+
+const int HEADER = 0x59;
+// Variables
+int TF01_pix;
+int dist, strength;
+int a, b, c, d, e, f, check, i;
+
+const byte rxPin = 10;
+const byte txPin = 11;
+SoftwareSerial mySerial (rxPin, txPin);
+
+void setup() {
+  pinMode(stepPin, OUTPUT);
+  pinMode(dirPin, OUTPUT);
+  pinMode(enPin, OUTPUT);
+  digitalWrite(enPin, LOW);
+  digitalWrite(dirPin, LOW); // default counter clockwise
+
+  Serial.begin(115200);
+  Serial.print("serial started");
+  mySerial.begin(115200);
+  setAngle(0);
+}
+
+void loop() {
+  // rotate a step
+  rotate(1);
+
+  // get distance 
+  Serial.println("dist : " + String(getDist()));
+
+  // serial print angle
+  if (currentAngle >= 360.0) {
+    currentAngle = currentAngle - 360.0;
+  }
+
+  Serial.println("angle : " + String(currentAngle));
+}
+
+int getDist(){
+  delay(1);
+  if (mySerial.available() >= 9)
+  {
+    // Check for first header byte
+    if(mySerial.read() == HEADER)
+    {
+    // Check for second header byte
+      if(mySerial.read() == HEADER)
+      {
+        // Read all 6 data bytes
+        a = mySerial.read();
+        b = mySerial.read();
+        c = mySerial.read();
+        d = mySerial.read();
+        e = mySerial.read();
+        f = mySerial.read();
+
+        // Read checksum byte
+        check = (a + b + c + d + e + f + HEADER + HEADER);
+        // Compare lower 8 bytes of checksum
+        if(mySerial.read() == (check & 0xff))
+        {
+          // Calculate distance
+          dist = (a + (b * 256));
+          // return result
+          return dist;
+        }
+      }
+    }
+  }
+  else{return 0;}
+}
+
+// 1600 is one full rotation
+void setAngle(int angleDegrees) {
+  currentAngle = totalSteps/STEPS *360;
+
+  int moveSteps = (currentAngle - angleDegrees)*STEPS/360;
+  if(moveSteps > 0) {
+        // clockwise
+        digitalWrite(dirPin, LOW);
+      }
+      else {
+        digitalWrite(dirPin, HIGH);
+      }
+  for(int x = 0; x < abs(moveSteps); x++) {
+      digitalWrite(stepPin, HIGH);
+      delayMicroseconds(500);
+      digitalWrite(stepPin, LOW);
+      delayMicroseconds(500);
+  }
+  totalSteps += moveSteps;
+}
+
+void rotate(float moveSteps) {
+  // rotate by moveSteps
+  for (int x = 0; x < abs(moveSteps); x++) {
+    digitalWrite(stepPin, HIGH);
+    delayMicroseconds(500);
+    digitalWrite(stepPin, LOW);
+    delayMicroseconds(500);
+  }
+
+  // increment total steps 
+  // reference angle
+  totalSteps += int(moveSteps);
+  totalSteps %= STEPS; // capping @ # steps per rev
+  currentAngle += moveSteps * angle_per_step;
+}

electrical_code/arms/arm_servos/arm_servos.ino

@@ -0,0 +1,35 @@
+#include <Servo.h>
+
+Servo myservo;  // Create a servo object
+Servo myservo2;
+int lastAngleValue = 90; // Initial angle value
+
+void setup() {
+  myservo.attach(9);  // Attach the servo to digital pin 9
+  myservo2.attach(8);
+  Serial.begin(9600);
+}
+
+int returnAngleValue() {
+  delay(1000);
+
+  // Receiving Data from Computer
+  if (Serial.available() > 0) {
+    String inputString = Serial.readStringUntil('\n');
+    int value = inputString.toInt();
+    return value;
+  }
+  // Return the last angle value if no new value is received
+  return lastAngleValue;
+}
+
+void loop() {
+  int newAngleValue = returnAngleValue();
+
+  // Update servo position only if a new angle value is received
+  if (newAngleValue != lastAngleValue) {
+    myservo.write(newAngleValue);
+    myservo2.write(newAngleValue);  
+    lastAngleValue = newAngleValue;
+  }
+}

electrical_code/drive/motor_driver_test/motor_driver_test.ino

@@ -0,0 +1,86 @@
+// Motor 1 - Left
+int leftMotor1 = 8;
+int leftMotor2 = 7;
+
+// Motor 2 - Right
+int rightMotor1 = 6;
+int rightMotor2 = 5;
+
+void goForward(int delay_time) {
+  // Set both left and right motors to move forward
+  digitalWrite(leftMotor1, HIGH);
+  digitalWrite(leftMotor2, LOW);
+  digitalWrite(rightMotor1, HIGH);
+  digitalWrite(rightMotor2, LOW);
+
+  delay(delay_time);
+  digitalWrite(leftMotor1, LOW);
+  digitalWrite(leftMotor2, LOW);
+  digitalWrite(rightMotor1, LOW);
+  digitalWrite(rightMotor2, LOW);
+
+}
+
+// backward = pin 2 high
+void goBackward(int delay_time ) {
+  digitalWrite(leftMotor1, LOW);
+  digitalWrite(leftMotor2, HIGH);
+  digitalWrite(rightMotor1, LOW);
+  digitalWrite(rightMotor2, HIGH);
+
+  delay(delay_time);
+  digitalWrite(leftMotor1, LOW);
+  digitalWrite(leftMotor2, LOW);
+  digitalWrite(rightMotor1, LOW);
+  digitalWrite(rightMotor2, LOW);
+
+}
+
+void turnLeft(int delay_time) {
+  // Set left motor backward and right motor forward for turning left
+  digitalWrite(leftMotor1, LOW);
+  digitalWrite(leftMotor2, HIGH);
+  digitalWrite(rightMotor1, HIGH);
+  digitalWrite(rightMotor2, LOW);
+
+  delay(delay_time);
+  digitalWrite(leftMotor1, LOW);
+  digitalWrite(leftMotor2, LOW);
+  digitalWrite(rightMotor1, LOW);
+  digitalWrite(rightMotor2, LOW);
+
+}
+
+void turnRight(int delay_time) {
+  // Set left motor forward and right motor backward for turning right
+  digitalWrite(leftMotor1, HIGH);
+  digitalWrite(leftMotor2, LOW);
+  digitalWrite(rightMotor1, LOW);
+  digitalWrite(rightMotor2, HIGH);
+
+  delay(delay_time);
+  digitalWrite(leftMotor1, LOW);
+  digitalWrite(leftMotor2, LOW);
+  digitalWrite(rightMotor1, LOW);
+  digitalWrite(rightMotor2, LOW);
+
+}
+
+void setup() {
+  Serial.begin(115200);
+  // Initialize all motor pins as outputs
+  pinMode(leftMotor1, OUTPUT);
+  pinMode(leftMotor2, OUTPUT);
+  pinMode(rightMotor1, OUTPUT);
+  pinMode(rightMotor2, OUTPUT);
+  //attachInterrupt(digitalPinToInterrupt(inputd3), toggleA7, CHANGE); // Attach interrupt to pin D3
+
+}
+void loop(){
+
+  goForward(1000);
+  delay(1000); // Wait for 1 second
+  goBackward(1000);
+
+}
+