supleed2/ELEC50003-P1-CW
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Some updates tm

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This commit is contained in:
Nikita Konovalchik 2021-06-09 20:06:39 +01:00
parent be103e3072
commit eac44e1d3d
1 changed files with 12 additions and 15 deletions
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27
Drive/20210706_Drive_Mars_Rover.ino
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@ -4,6 +4,8 @@
#include <Wire.h> #include <Wire.h>
#include <INA219_WE.h> #include <INA219_WE.h>
#include "SPI.h" #include "SPI.h"
#include <SoftwareSerial.h>
SoftwareSerial Serial4 = SoftwareSerial(6, 10);
#define RXpin 0 // Define your RX pin here #define RXpin 0 // Define your RX pin here
#define TXpin 0 // Define your TX pin here #define TXpin 0 // Define your TX pin here
@ -360,7 +362,7 @@ void setup()
Wire.setClock(700000); // set the comms speed for i2c Wire.setClock(700000); // set the comms speed for i2c
//-------------------------------------------------------SMPS & MOTOR CODE END------------------------------------------------------// //-------------------------------------------------------SMPS & MOTOR CODE END------------------------------------------------------//
Serial.begin(115200); // Set up hardware UART0 (Connected to USB port) Serial.begin(115200); // Set up hardware UART0 (Connected to USB port)
Serial1.begin(9600); // Set up hardware UART1 Serial4.begin(9600); // Set up software UART
//Serial.println(getPWMfromSpeed(-1)); //Serial.println(getPWMfromSpeed(-1));
//Serial.println(getPWMfromSpeed(256)); //Serial.println(getPWMfromSpeed(256));
@ -414,20 +416,12 @@ char asciiart(int k)
} }
byte frame[ADNS3080_PIXELS_X * ADNS3080_PIXELS_Y]; byte frame[ADNS3080_PIXELS_X * ADNS3080_PIXELS_Y];
DynamicJsonDocument rdoc(1024);
void loop() void loop()
{ {
analogWrite(pwmr,512);
analogWrite(pwml,512);
digitalWrite(DIRR, HIGH);
digitalWrite(DIRL, LOW);
Serial.println(pwmr);
//Serial.println("Here"); //Serial.println("Here");
DynamicJsonDocument rdoc(1024); // receive doc, not sure how big this needs to be
//deserializeJson(rdoc, Serial1); // Take JSON input from UART1 //deserializeJson(rdoc, Serial1); // Take JSON input from UART1
//Check for updates every 1s... //Check for updates every 1s...
@ -436,8 +430,11 @@ void loop()
if (currentMillis_Command - previousMillis_Command >= interval_Command) { if (currentMillis_Command - previousMillis_Command >= interval_Command) {
// save the last time you blinked the LED // save the last time you blinked the LED
previousMillis_Command = currentMillis_Command; previousMillis_Command = currentMillis_Command;
error = deserializeJson(rdoc, Serial1); // receive doc, not sure how big this needs to be
//Serial.println("H"); error = deserializeJson(rdoc, Serial4);
//Serial.println
Serial.println("I am here!");
} }
@ -682,7 +679,7 @@ Serial.println("Distance_y = " + String(total_y));
//*******************************************************************// //*******************************************************************//
//-------------------------------------------------------SMPS & MOTOR CODE END------------------------------------------------------// //----------------s---------------------------------------SMPS & MOTOR CODE END------------------------------------------------------//
} }
@ -795,4 +792,4 @@ float pidi(float pid_input) {
e2i = e1i; //update last last time's error e2i = e1i; //update last last time's error
e1i = e0i; // update last time's error e1i = e0i; // update last time's error
return u0i; return u0i;
} }