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final_project.ino
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/***************************************************************************/
// File [final_project.ino]
// Author [Erik Kuo]
// Synopsis [Code for managing main process]
// Functions [setup, loop, Search_Mode, Hault_Mode, SetState]
// Modify [2020/03/27 Erik Kuo]
/***************************************************************************/
#define DEBUG // debug flag
// for BlueTooth
#include<SoftwareSerial.h>
// for RFID
#include <SPI.h>
#include <MFRC522.h>
/*===========================define pin & create module object================================*/
// BlueTooth
#define Rx 10
#define Tx 11
SoftwareSerial BT_test(Rx,Tx); // TX,RX on bluetooth module, 請按照自己車上的接線寫入腳位
// L298N, 請按照自己車上的接線寫入腳位(左右不一定要跟註解寫的一樣)
#define MotorR_I1 4 //定義 I1 接腳（右）往前
#define MotorR_I2 2 //定義 I2 接腳（右）往後
#define MotorL_I3 3 //定義 I3 接腳（左）往前
#define MotorL_I4 7 //定義 I4 接腳（左）往後
#define MotorL_PWML 6 //定義 ENA (PWM調速) 接腳
#define MotorR_PWMR 5 //定義 ENB (PWM調速) 接腳
// 循線模組, 請按照自己車上的接線寫入腳位
#define L1 A0 // Define Left Most Sensor Pin
#define L2 A1 // Define Left Middle Sensor Pin
#define L3 A2 // Define Middle Left Sensor Pin
#define R3 A3 // Define Middle Right Sensor Pin
#define R2 A4 // Define Right Middle Sensor Pin
#define R1 A5 // Define Right Most Sensor Pin
// RFID, 請按照自己車上的接線寫入腳位 //NOT YET
#define RST_PIN 100 // 讀卡機的重置腳位
#define SS_PIN 101 // 晶片選擇腳位
MFRC522 mfrc522(SS_PIN, RST_PIN); // 建立MFRC522物件
/*===========================define pin & create module object===========================*/
/*===========================declare function prototypes===========================*/
// search graph
void Search_Mode();
// wait for command
void Hault_Mode();
void SetState();
/*===========================declare function prototypes===========================*/
/*===========================define function===========================*/
// Import header files
#include "RFID.h"
#include "track.h"
#include "bluetooth.h"
#include "node.h"
BT_CMD _cmd = NOTHING;
void setup()
{
//bluetooth initialization
BT_test.begin(9600);
//Serial window
Serial.begin(9600);
//RFID initial
SPI.begin();
mfrc522.PCD_Init();
//L298N pin
pinMode(MotorR_I1, OUTPUT);
pinMode(MotorR_I2, OUTPUT);
pinMode(MotorL_I3, OUTPUT);
pinMode(MotorL_I4, OUTPUT);
pinMode(MotorL_PWML, OUTPUT);
pinMode(MotorR_PWMR, OUTPUT);
//tracking pin
pinMode(L1, INPUT);
pinMode(L2, INPUT);
pinMode(L3, INPUT);
pinMode(R3, INPUT);
pinMode(R2, INPUT);
pinMode(R1, INPUT);
#ifdef DEBUG
Serial.println("Start!");
#endif
}// setup
// initalize parameter
double vL = 80, vR = 80 ;
bool system_begin = 0 ;
// variables for 循線模組
int l1 = 0, l2 = 0, l3 = 0, r3 = 0, r2 = 0, r1 = 0 ;
// variable for motor power
int _Tp = 80 ;
// enum for car states, 不懂得可以自己google C++ enum
enum ControlState
{
HAULT_STATE,
SEARCH_STATE,
};
ControlState _state = HAULT_STATE;
// enum for bluetooth message, reference in bluetooth.h line 2
void loop()
{
Serial.print("serial.avail:");
Serial.println(BT_test.available());
// search graph
if(_state == SEARCH_STATE) Search_Mode();
// wait for command
else if(_state == HAULT_STATE){
while(1){
Serial.print("serial.avail:");
Serial.println(BT_test.available());
}};
SetState();
}// loop
void SetState()
{
// TODO:
// 1. Get command from bluetooth
// 2. Change state if need
if( !(digitalRead(L1) || digitalRead(L2) || digitalRead(L3) || digitalRead(R3) || digitalRead(R2) || digitalRead(R1)) ){
_state = HAULT_STATE ;
char temp = 'e' ;
send_msg(temp) ;
//report through bluetooth
} // meet dead end
else if( digitalRead(L1) && digitalRead(L2) && digitalRead(L3) && digitalRead(R3) && digitalRead(R2) && digitalRead(R1) ){
_state = HAULT_STATE ;
char temp = 'n' ;
send_msg(temp) ;
//report through bluetooth
} // meet node
else{
_state = SEARCH_STATE ;
}
}// SetState
void Hault_Mode()
{
// TODO: let your car stay still
MotorWriting( 0, 0) ;
Serial.print(" hault_mode ");
_cmd = NOTHING ;
while(1){
//Serial.print("bt has avail:");
//Serial.println(BT_test.available());
_cmd = ask_BT() ;
//Serial.print("after ask: ") ;
//Serial.println(_cmd) ;
if( _cmd != NOTHING ) break ;
}
Serial.print(" read something ") ;
if( _cmd == _left ) turn_left();
else if( _cmd == _right ) turn_right();
else if( _cmd == _around ) turn_around();
else if( _cmd == _through ) go_through();
}// Hault_Mode
void Search_Mode()
{
// TODO: let your car search graph(maze) according to bluetooth command from computer(python code)
tracking(digitalRead(L1), digitalRead(L2), digitalRead(L3), digitalRead(R3), digitalRead(R2), digitalRead(R1));
MotorWriting( vL, vR);
}
// Search_Mode
/*===========================define function===========================*/
Arduino:1.8.12 (Mac OS X), 開發板:"Arduino Uno"
loading libs from /Users/wang/Documents/Arduino/libraries: reading dir /Users/wang/Documents/Arduino/libraries: open /Users/wang/Documents/Arduino/libraries: operation not permitted
開發板 Arduino Uno 編譯錯誤。
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