| #include <Wire.h> |
| #include <Servo.h> |
| |
| #include <Max3421e.h> |
| #include <Usb.h> |
| #include <AndroidAccessory.h> |
| |
| #include <CapSense.h> |
| |
| #define LED3_RED 2 |
| #define LED3_GREEN 4 |
| #define LED3_BLUE 3 |
| |
| #define LED2_RED 5 |
| #define LED2_GREEN 7 |
| #define LED2_BLUE 6 |
| |
| #define LED1_RED 8 |
| #define LED1_GREEN 10 |
| #define LED1_BLUE 9 |
| |
| #define SERVO1 11 |
| #define SERVO2 12 |
| #define SERVO3 13 |
| |
| #define TOUCH_RECV 14 |
| #define TOUCH_SEND 15 |
| |
| #define RELAY1 A0 |
| #define RELAY2 A1 |
| |
| #define LIGHT_SENSOR A2 |
| #define TEMP_SENSOR A3 |
| |
| #define BUTTON1 A6 |
| #define BUTTON2 A7 |
| #define BUTTON3 A8 |
| |
| #define JOY_SWITCH A9 // pulls line down when pressed |
| #define JOY_nINT A10 // active low interrupt input |
| #define JOY_nRESET A11 // active low reset output |
| |
| AndroidAccessory acc("Google, Inc.", |
| "DemoKit", |
| "DemoKit Arduino Board", |
| "1.0", |
| "http://www.android.com", |
| "0000000012345678"); |
| Servo servos[3]; |
| |
| // 10M ohm resistor on demo shield |
| CapSense touch_robot = CapSense(TOUCH_SEND, TOUCH_RECV); |
| |
| void setup(); |
| void loop(); |
| |
| void init_buttons() |
| { |
| pinMode(BUTTON1, INPUT); |
| pinMode(BUTTON2, INPUT); |
| pinMode(BUTTON3, INPUT); |
| pinMode(JOY_SWITCH, INPUT); |
| |
| // enable the internal pullups |
| digitalWrite(BUTTON1, HIGH); |
| digitalWrite(BUTTON2, HIGH); |
| digitalWrite(BUTTON3, HIGH); |
| digitalWrite(JOY_SWITCH, HIGH); |
| } |
| |
| |
| void init_relays() |
| { |
| pinMode(RELAY1, OUTPUT); |
| pinMode(RELAY2, OUTPUT); |
| } |
| |
| |
| void init_leds() |
| { |
| digitalWrite(LED1_RED, 1); |
| digitalWrite(LED1_GREEN, 1); |
| digitalWrite(LED1_BLUE, 1); |
| |
| pinMode(LED1_RED, OUTPUT); |
| pinMode(LED1_GREEN, OUTPUT); |
| pinMode(LED1_BLUE, OUTPUT); |
| |
| digitalWrite(LED2_RED, 1); |
| digitalWrite(LED2_GREEN, 1); |
| digitalWrite(LED2_BLUE, 1); |
| |
| pinMode(LED2_RED, OUTPUT); |
| pinMode(LED2_GREEN, OUTPUT); |
| pinMode(LED2_BLUE, OUTPUT); |
| |
| digitalWrite(LED3_RED, 1); |
| digitalWrite(LED3_GREEN, 1); |
| digitalWrite(LED3_BLUE, 1); |
| |
| pinMode(LED3_RED, OUTPUT); |
| pinMode(LED3_GREEN, OUTPUT); |
| pinMode(LED3_BLUE, OUTPUT); |
| } |
| |
| void init_joystick(int threshold); |
| |
| byte b1, b2, b3, b4, c; |
| void setup() |
| { |
| Serial.begin(115200); |
| Serial.print("\r\nStart"); |
| |
| init_leds(); |
| init_relays(); |
| init_buttons(); |
| init_joystick( 5 ); |
| |
| // autocalibrate OFF |
| touch_robot.set_CS_AutocaL_Millis(0xFFFFFFFF); |
| |
| servos[0].attach(SERVO1); |
| servos[0].write(90); |
| servos[1].attach(SERVO2); |
| servos[1].write(90); |
| servos[2].attach(SERVO3); |
| servos[2].write(90); |
| |
| |
| b1 = digitalRead(BUTTON1); |
| b2 = digitalRead(BUTTON2); |
| b3 = digitalRead(BUTTON3); |
| b4 = digitalRead(JOY_SWITCH); |
| c = 0; |
| |
| acc.powerOn(); |
| } |
| |
| void loop() |
| { |
| byte err; |
| byte idle; |
| static byte count = 0; |
| byte msg[3]; |
| long touchcount; |
| |
| if (acc.isConnected()) { |
| int len = acc.read(msg, sizeof(msg), 1); |
| int i; |
| byte b; |
| uint16_t val; |
| int x, y; |
| char c0; |
| |
| if (len > 0) { |
| // assumes only one command per packet |
| if (msg[0] == 0x2) { |
| if (msg[1] == 0x0) |
| analogWrite(LED1_RED, 255 - msg[2]); |
| else if (msg[1] == 0x1) |
| analogWrite(LED1_GREEN, 255 - msg[2]); |
| else if (msg[1] == 0x2) |
| analogWrite(LED1_BLUE, 255 - msg[2]); |
| else if (msg[1] == 0x3) |
| analogWrite(LED2_RED, 255 - msg[2]); |
| else if (msg[1] == 0x4) |
| analogWrite(LED2_GREEN, 255 - msg[2]); |
| else if (msg[1] == 0x5) |
| analogWrite(LED2_BLUE, 255 - msg[2]); |
| else if (msg[1] == 0x6) |
| analogWrite(LED3_RED, 255 - msg[2]); |
| else if (msg[1] == 0x7) |
| analogWrite(LED3_GREEN, 255 - msg[2]); |
| else if (msg[1] == 0x8) |
| analogWrite(LED3_BLUE, 255 - msg[2]); |
| else if (msg[1] == 0x10) |
| servos[0].write(map(msg[2], 0, 255, 0, 180)); |
| else if (msg[1] == 0x11) |
| servos[1].write(map(msg[2], 0, 255, 0, 180)); |
| else if (msg[1] == 0x12) |
| servos[2].write(map(msg[2], 0, 255, 0, 180)); |
| } else if (msg[0] == 0x3) { |
| if (msg[1] == 0x0) |
| digitalWrite(RELAY1, msg[2] ? HIGH : LOW); |
| else if (msg[1] == 0x1) |
| digitalWrite(RELAY2, msg[2] ? HIGH : LOW); |
| } |
| } |
| |
| msg[0] = 0x1; |
| |
| b = digitalRead(BUTTON1); |
| if (b != b1) { |
| msg[1] = 0; |
| msg[2] = b ? 0 : 1; |
| acc.write(msg, 3); |
| b1 = b; |
| } |
| |
| b = digitalRead(BUTTON2); |
| if (b != b2) { |
| msg[1] = 1; |
| msg[2] = b ? 0 : 1; |
| acc.write(msg, 3); |
| b2 = b; |
| } |
| |
| b = digitalRead(BUTTON3); |
| if (b != b3) { |
| msg[1] = 2; |
| msg[2] = b ? 0 : 1; |
| acc.write(msg, 3); |
| b3 = b; |
| } |
| |
| b = digitalRead(JOY_SWITCH); |
| if (b != b4) { |
| msg[1] = 4; |
| msg[2] = b ? 0 : 1; |
| acc.write(msg, 3); |
| b4 = b; |
| } |
| |
| switch (count++ % 0x10) { |
| case 0: |
| val = analogRead(TEMP_SENSOR); |
| msg[0] = 0x4; |
| msg[1] = val >> 8; |
| msg[2] = val & 0xff; |
| acc.write(msg, 3); |
| break; |
| |
| case 0x4: |
| val = analogRead(LIGHT_SENSOR); |
| msg[0] = 0x5; |
| msg[1] = val >> 8; |
| msg[2] = val & 0xff; |
| acc.write(msg, 3); |
| break; |
| |
| case 0x8: |
| read_joystick(&x, &y); |
| msg[0] = 0x6; |
| msg[1] = constrain(x, -128, 127); |
| msg[2] = constrain(y, -128, 127); |
| acc.write(msg, 3); |
| break; |
| |
| case 0xc: |
| touchcount = touch_robot.capSense(5); |
| |
| c0 = touchcount > 750; |
| |
| if (c0 != c) { |
| msg[0] = 0x1; |
| msg[1] = 3; |
| msg[2] = c0; |
| acc.write(msg, 3); |
| c = c0; |
| } |
| |
| break; |
| } |
| } else { |
| // reset outputs to default values on disconnect |
| analogWrite(LED1_RED, 255); |
| analogWrite(LED1_GREEN, 255); |
| analogWrite(LED1_BLUE, 255); |
| analogWrite(LED2_RED, 255); |
| analogWrite(LED2_GREEN, 255); |
| analogWrite(LED2_BLUE, 255); |
| analogWrite(LED3_RED, 255); |
| analogWrite(LED3_GREEN, 255); |
| analogWrite(LED3_BLUE, 255); |
| servos[0].write(90); |
| servos[0].write(90); |
| servos[0].write(90); |
| digitalWrite(RELAY1, LOW); |
| digitalWrite(RELAY2, LOW); |
| } |
| |
| delay(10); |
| } |
| |
| // ============================================================================== |
| // Austria Microsystems i2c Joystick |
| void init_joystick(int threshold) |
| { |
| byte status = 0; |
| |
| pinMode(JOY_SWITCH, INPUT); |
| digitalWrite(JOY_SWITCH, HIGH); |
| |
| pinMode(JOY_nINT, INPUT); |
| digitalWrite(JOY_nINT, HIGH); |
| |
| pinMode(JOY_nRESET, OUTPUT); |
| |
| digitalWrite(JOY_nRESET, 1); |
| delay(1); |
| digitalWrite(JOY_nRESET, 0); |
| delay(1); |
| digitalWrite(JOY_nRESET, 1); |
| |
| Wire.begin(); |
| |
| do { |
| status = read_joy_reg(0x0f); |
| } while ((status & 0xf0) != 0xf0); |
| |
| // invert magnet polarity setting, per datasheet |
| write_joy_reg(0x2e, 0x86); |
| |
| calibrate_joystick(threshold); |
| } |
| |
| |
| int offset_X, offset_Y; |
| |
| void calibrate_joystick(int dz) |
| { |
| char iii; |
| int x_cal = 0; |
| int y_cal = 0; |
| |
| // Low Power Mode, 20ms auto wakeup |
| // INTn output enabled |
| // INTn active after each measurement |
| // Normal (non-Reset) mode |
| write_joy_reg(0x0f, 0x00); |
| delay(1); |
| |
| // dummy read of Y_reg to reset interrupt |
| read_joy_reg(0x11); |
| |
| for(iii = 0; iii != 16; iii++) { |
| while(!joystick_interrupt()) {} |
| |
| x_cal += read_joy_reg(0x10); |
| y_cal += read_joy_reg(0x11); |
| } |
| |
| // divide by 16 to get average |
| offset_X = -(x_cal>>4); |
| offset_Y = -(y_cal>>4); |
| |
| write_joy_reg(0x12, dz - offset_X); // Xp, LEFT threshold for INTn |
| write_joy_reg(0x13, -dz - offset_X); // Xn, RIGHT threshold for INTn |
| write_joy_reg(0x14, dz - offset_Y); // Yp, UP threshold for INTn |
| write_joy_reg(0x15, -dz - offset_Y); // Yn, DOWN threshold for INTn |
| |
| // dead zone threshold detect requested? |
| if (dz) |
| write_joy_reg(0x0f, 0x04); |
| } |
| |
| |
| void read_joystick(int *x, int *y) |
| { |
| *x = read_joy_reg(0x10) + offset_X; |
| *y = read_joy_reg(0x11) + offset_Y; // reading Y clears the interrupt |
| } |
| |
| char joystick_interrupt() |
| { |
| return digitalRead(JOY_nINT) == 0; |
| } |
| |
| |
| #define JOY_I2C_ADDR 0x40 |
| |
| char read_joy_reg(char reg_addr) |
| { |
| char c; |
| |
| Wire.beginTransmission(JOY_I2C_ADDR); |
| Wire.write(reg_addr); |
| Wire.endTransmission(); |
| |
| Wire.requestFrom(JOY_I2C_ADDR, 1); |
| |
| while(Wire.available()) |
| c = Wire.read(); |
| |
| return c; |
| } |
| |
| void write_joy_reg(char reg_addr, char val) |
| { |
| Wire.beginTransmission(JOY_I2C_ADDR); |
| Wire.write(reg_addr); |
| Wire.write(val); |
| Wire.endTransmission(); |
| } |