mirror of
https://github.com/digistump/DigistumpArduino.git
synced 2025-11-03 13:04:48 -08:00
added updated tinypinchange and associated libraries to support PRO
This commit is contained in:
Erik Tylek Kettenburg
@@ -0,0 +1,193 @@
|
||||
/*
|
||||
Sketch using <RcSeq> library, for automatically dropping a pneumatic Zodiac at sea and returning for it back to the deck of a supply vessel.
|
||||
The sequence is launched after sending the 'g' (Go) character at the USB interface.
|
||||
|
||||
In this example, the declared sequence is:
|
||||
1) The crane lifts the pneumatic Zodiac from the deck to the air and stops
|
||||
2) The crane rotates (90°) to locate the pneumatic Zodiac above the sea
|
||||
3) The crane drops down the pneumatic Zodiac at sea level
|
||||
4) The crane stops during 6 seconds
|
||||
5) The crane lifts up the pneumatic Zodiac from sea level to the air and stops
|
||||
6) The crane rotates (90°) to locate the pneumatic Zodiac above the deck
|
||||
7) The crane drops down the pneumatic Zodiac on the deck and stops. The sequence ends.
|
||||
This sequence uses:
|
||||
- 2 commands from USB interface ('g' and 't' characters from Digiterm or Digi Monitor)
|
||||
- 2 servos (a "ROTATION" servo for the crane rotation and an "UP/DOWN" servo to drop and lift the pneumatic Zodiac)
|
||||
|
||||
IMPORTANT:
|
||||
=========
|
||||
For this sketch, which is using <DigiUSB> library:
|
||||
1) Comment "#define RC_SEQ_WITH_SOFT_RC_PULSE_IN_SUPPORT" in "arduino-1.xx\libraries\RcSeq.h".
|
||||
This will disable the code to manage incoming RC pulses and save some flash memory.
|
||||
RC_SEQ_WITH_SHORT_ACTION_SUPPORT and RC_SEQ_WITH_SOFT_RC_PULSE_OUT_SUPPORT shall be defined
|
||||
2) Replace #define RING_BUFFER_SIZE 128 with #define RING_BUFFER_SIZE 32 in "arduino-1.xx\libraries\DigisparkUSB\DigiUSB.h".
|
||||
3) The sequence will be launch by sending "g" character through USB link (using Digiterm or Digi Monitor).
|
||||
To check all the sequence is performed asynchronously, you can send 't' to toggle the LED during servo motion!
|
||||
If step 1) and 2) are not done, this sketch won't compile because won't fit in programm memory of the DigiSpark!
|
||||
|
||||
RC Navy 2013
|
||||
http://p.loussouarn.free.fr
|
||||
*/
|
||||
|
||||
static void ToggleLed(void); /* Declare Short Action: Toggle a LED */
|
||||
|
||||
/*************************************************/
|
||||
/* STEP #1: Include the needed libraries */
|
||||
/*************************************************/
|
||||
#include <DigiUSB.h> /* The Servo Sequence will be launched by sending "g" character (Go) at the USB interface */
|
||||
#include <RcSeq.h>
|
||||
#include <SoftRcPulseOut.h>
|
||||
|
||||
#define LED_PIN 1
|
||||
|
||||
/*****************************************************************/
|
||||
/* STEP #2: Enumeration of the servos used in the sequence */
|
||||
/*****************************************************************/
|
||||
enum {ROTATION_SERVO=0, UP_DOWN_SERVO , SERVO_NB};
|
||||
|
||||
/*****************************************************************/
|
||||
/* STEP #3: Servos Digital Pins assignment */
|
||||
/*****************************************************************/
|
||||
#define UP_DOWN_SERVO_PIN 2
|
||||
/* /!\ Do not use Pin 3 (used by USB) /!\ */
|
||||
/* /!\ Do not use Pin 4 (used by USB) /!\ */
|
||||
#define ROTATION_SERVO_PIN 5
|
||||
|
||||
/**************************************************************************************/
|
||||
/* STEP #4: Declaration of the angles of the servos for the different motions (in °) */
|
||||
/**************************************************************************************/
|
||||
#define UP_DOWN_ON_DECK_POS 120 /* Zodiac on the deck */
|
||||
#define UP_DOWN_ON_AIR_POS 180 /* Zodiac in the air */
|
||||
#define UP_DOWN_ON_SEA_POS 0 /* Zodiac at sea level */
|
||||
|
||||
#define ROTATION_ABOVE_DECK_POS 90 /* crane at deck side */
|
||||
#define ROTATION_ABOVE_SEA_POS 0 /* crane at sea side */
|
||||
|
||||
|
||||
/***************************************************************************************************************************************/
|
||||
/* STEP #5: Do a temporal diagram showing the start up and the duration of each motions of each servo */
|
||||
/***************************************************************************************************************************************/
|
||||
/*
|
||||
All the start up values (time stamp) have as reference the moment of the sequence startup order (t=0).
|
||||
|
||||
UP_DOWN_SERVO MOTION ROTATION_SERVO MOTION UP_DOWN_SERVO MOTION NO MOTION MOUVEMENT(WAITING) UP_DOWN_SERVO MOTION ROTATION_SERVO MOTION UP_DOWN_SERVO MOTION
|
||||
Order <--DECK_TO_AIR_DURATION_MS--> <--DECK_TO_SEA_ROTATION_DURATION_MS--> <--AIR_TO_SEA_FALLING_DURATION_MS--> <--DELAY_BEFORE_RISING_UP_MS--> <--SEA_TO_AIR_RISING_DURATION_MS--> <--SEA_TO_DECK_ROTATION_DURATION_MS--> <--AIR_TO_DECK_FALLING_DURATION_MS-->
|
||||
|-------------------|-----------------------------|--------------------------------------|------------------------------------|-------------------------------|-----------------------------------|--------------------------------------|-------------------------------------|-->Time Axis
|
||||
0 START_UP_DECK_TO_AIR_MS START_UP_DECK_TO_SEA_ROTATION_MS START_UP_AIR_TO_SEA_FALLING_MS START_UP_SEA_TO_AIR_RISING_MS START_UP_SEA_TO_DECK_ROTATION_MS START_UP_AIR_TO_DECK_FALLING_MS
|
||||
*/
|
||||
|
||||
/**************************************************************************************************************************************************/
|
||||
/* STEP #6: With the help of the temporal diagram, declare start up time, the motion duration of servo and optional delay */
|
||||
/**************************************************************************************************************************************************/
|
||||
/* Tune below all the motion duration. Do not forget to add a trailer 'UL' for each value to force them in Unsigned Long type */
|
||||
#define START_UP_DECK_TO_AIR_MS 0UL /* 0 for immediate start up, but you can put a delay here. Ex: 2000UL, will delay the startup of the whole sequence after 2 seconds */
|
||||
#define DECK_TO_AIR_DURATION_MS 3000UL
|
||||
|
||||
#define START_UP_DECK_TO_SEA_ROTATION_MS (START_UP_DECK_TO_AIR_MS + DECK_TO_AIR_DURATION_MS)
|
||||
#define DECK_TO_SEA_ROTATION_DURATION_MS 3000UL
|
||||
|
||||
#define START_UP_AIR_TO_SEA_FALLING_MS (START_UP_DECK_TO_SEA_ROTATION_MS + DECK_TO_SEA_ROTATION_DURATION_MS)
|
||||
#define AIR_TO_SEA_FALLING_DURATION_MS 9000UL
|
||||
|
||||
#define DELAY_BEFORE_RISING_UP_MS 6000UL
|
||||
|
||||
#define START_UP_SEA_TO_AIR_RISING_MS (START_UP_AIR_TO_SEA_FALLING_MS + AIR_TO_SEA_FALLING_DURATION_MS + DELAY_BEFORE_RISING_UP_MS)
|
||||
#define SEA_TO_AIR_RISING_DURATION_MS 9000UL
|
||||
|
||||
#define START_UP_SEA_TO_DECK_ROTATION_MS (START_UP_SEA_TO_AIR_RISING_MS + SEA_TO_AIR_RISING_DURATION_MS)
|
||||
#define SEA_TO_DECK_ROTATION_DURATION_MS 3000UL
|
||||
|
||||
|
||||
#define START_UP_AIR_TO_DECK_FALLING_MS (START_UP_SEA_TO_DECK_ROTATION_MS + SEA_TO_DECK_ROTATION_DURATION_MS)
|
||||
#define AIR_TO_DECK_FALLING_DURATION_MS 3000UL
|
||||
|
||||
/********************************************************************************************************************/
|
||||
/* STEP #7: Declare here the percentage of motion to be performed at half speed for servo start up and stop */
|
||||
/********************************************************************************************************************/
|
||||
#define START_STOP_PER_CENT 5L /* Percentage of motion performed at half speed for servo start and servo stop (Soft start and Soft stop) */
|
||||
/* Note: due to the lack of programm memory on the DigiSpark, this feature is not used */
|
||||
|
||||
/************************************************************************************************************/
|
||||
/* STEP #11: Use a "SequenceSt_t" structure table to declare the servo sequence */
|
||||
/* For each table entry, arguments are: */
|
||||
/* - Servo Index */
|
||||
/* - Initial Servo Position in ° */
|
||||
/* - Final Servo Position in ° */
|
||||
/* - Motion Start Time Stamp in ms */
|
||||
/* - Motion duration in ms between initial and final position */
|
||||
/* - Percentage of motion performed at half speed for servo start and servo stop (Soft start and Soft stop) */
|
||||
/* Note: START_STOP_PER_CENT not used (MOTION_WITHOUT_SOFT_START_AND_STOP() macro used) */
|
||||
/************************************************************************************************************/
|
||||
SequenceSt_t ZodiacSequence[] PROGMEM = {
|
||||
SHORT_ACTION_TO_PERFORM(ToggleLed, START_UP_DECK_TO_AIR_MS) /* Switch ON the Led at the beginning of the sequence */
|
||||
SHORT_ACTION_TO_PERFORM(ToggleLed, START_UP_AIR_TO_DECK_FALLING_MS+AIR_TO_DECK_FALLING_DURATION_MS) /* Switch OFF the Led at the beginning of the sequence: You are not obliged to put this line at the end of the table */
|
||||
/* 1) The crane lifts the pneumatic Zodiac from the deck to the air and stops */
|
||||
MOTION_WITHOUT_SOFT_START_AND_STOP(UP_DOWN_SERVO, UP_DOWN_ON_DECK_POS, UP_DOWN_ON_AIR_POS, START_UP_DECK_TO_AIR_MS, DECK_TO_AIR_DURATION_MS)
|
||||
/* 2) The crane rotates (90°) to locate the pneumatic Zodiac above the sea */
|
||||
MOTION_WITHOUT_SOFT_START_AND_STOP(ROTATION_SERVO, ROTATION_ABOVE_DECK_POS, ROTATION_ABOVE_SEA_POS, START_UP_DECK_TO_SEA_ROTATION_MS, DECK_TO_SEA_ROTATION_DURATION_MS)
|
||||
/* 3) The crane drops down the pneumatic Zodiac at sea level */
|
||||
MOTION_WITHOUT_SOFT_START_AND_STOP(UP_DOWN_SERVO, UP_DOWN_ON_AIR_POS, UP_DOWN_ON_SEA_POS, START_UP_AIR_TO_SEA_FALLING_MS, AIR_TO_SEA_FALLING_DURATION_MS)
|
||||
/* 4) The crane stops during 6 seconds and 5) The crane lifts up the pneumatic Zodiac from sea level to the air and stops */
|
||||
MOTION_WITHOUT_SOFT_START_AND_STOP(UP_DOWN_SERVO, UP_DOWN_ON_SEA_POS, UP_DOWN_ON_AIR_POS, START_UP_SEA_TO_AIR_RISING_MS, SEA_TO_AIR_RISING_DURATION_MS)
|
||||
/* 6) The crane rotates (90°) to locate the pneumatic Zodiac above the deck */
|
||||
MOTION_WITHOUT_SOFT_START_AND_STOP(ROTATION_SERVO, ROTATION_ABOVE_SEA_POS, ROTATION_ABOVE_DECK_POS, START_UP_SEA_TO_DECK_ROTATION_MS, SEA_TO_DECK_ROTATION_DURATION_MS)
|
||||
/* 7) The crane drops down the pneumatic Zodiac on the deck and stops. The sequence ends. */
|
||||
MOTION_WITHOUT_SOFT_START_AND_STOP(UP_DOWN_SERVO, UP_DOWN_ON_AIR_POS, UP_DOWN_ON_DECK_POS, START_UP_AIR_TO_DECK_FALLING_MS, AIR_TO_DECK_FALLING_DURATION_MS)
|
||||
};
|
||||
|
||||
void setup()
|
||||
{
|
||||
pinMode(LED_PIN, OUTPUT);
|
||||
|
||||
DigiUSB.begin();
|
||||
|
||||
/***************************************************************************/
|
||||
/* STEP #9: Init <RcSeq> library */
|
||||
/***************************************************************************/
|
||||
RcSeq_Init();
|
||||
|
||||
/****************************************************************************************/
|
||||
/* STEP #10: declare the servo command signals with their digital pin number */
|
||||
/****************************************************************************************/
|
||||
RcSeq_DeclareServo(UP_DOWN_SERVO, UP_DOWN_SERVO_PIN);
|
||||
RcSeq_DeclareServo(ROTATION_SERVO, ROTATION_SERVO_PIN);
|
||||
|
||||
/**************************************************************************************************************************/
|
||||
/* STEP #11: declare the sequence command signal (0), the stick level (0), and the sequence to call */
|
||||
/**************************************************************************************************************************/
|
||||
RcSeq_DeclareCommandAndSequence(0, 0, RC_SEQUENCE(ZodiacSequence)); /* 0,0 since there's no RC command */
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
char RxChar;
|
||||
|
||||
/***********************************************************************************************************************************/
|
||||
/* STEP #12: call the refresh function inside the loop() to catch RC commands and to manage the servo positions */
|
||||
/***********************************************************************************************************************************/
|
||||
RcSeq_Refresh();
|
||||
|
||||
/****************************************************************************************************************/
|
||||
/* STEP #13: the sequence can be launched directly by calling the RcSeq_LaunchSequence() function */
|
||||
/****************************************************************************************************************/
|
||||
if(DigiUSB.available())
|
||||
{
|
||||
RxChar=DigiUSB.read();
|
||||
if(RxChar=='g') /* Go ! */
|
||||
{
|
||||
RcSeq_LaunchSequence(ZodiacSequence);
|
||||
}
|
||||
if(RxChar=='t') /* Toggle LED ! */
|
||||
{
|
||||
RcSeq_LaunchShortAction(ToggleLed); /* You can toggle LED during Servo Motion! */
|
||||
}
|
||||
}
|
||||
DigiUSB.refresh();
|
||||
}
|
||||
|
||||
static void ToggleLed(void)
|
||||
{
|
||||
static boolean Status=LOW;
|
||||
Status=!Status; /* Toggle Status */
|
||||
digitalWrite(LED_PIN, Status);
|
||||
}
|
||||
Reference in New Issue
Block a user