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