dunkirk.sh
a scrappy gimbal that insults you in shakespearean english
feat: add blot schematic
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-459
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.github/images/blot-schematic.svg
+5
.github/images/blot-schematic.svg
···
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</style>
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fill="#880000" font-family="Verdana" font-size="8pt" font-weight="" font-style="" dominant-baseline="" text-anchor="start" type="comment" >Date:</text></g><g c_partid="part_annotation" id="gge172" locked="0" c_origin="851.62495,-14.52" c_shapetype="group" c_etype="frame_date"><text x="851.62495" y="-14.52" fill="#0000FF" font-family="Verdana" font-size="9pt" font-weight="" font-style="" dominant-baseline="" text-anchor="start" type="comment" >2024-05-08</text></g><g c_partid="part_annotation" id="gge178" locked="0" c_origin="1063.62495,-35" c_shapetype="group" c_etype="pinpart"><text x="1063.62495" y="-35" fill="#880000" font-family="Verdana" font-size="8pt" font-weight="" font-style="" dominant-baseline="" text-anchor="start" type="comment" >Sheet:</text></g><g c_partid="part_annotation" id="gge184" locked="0" c_origin="1108.62495,-34.52" c_shapetype="group" c_etype="frame_sheet"><text x="1108.62495" y="-34.52" fill="#0000FF" font-family="Verdana" font-size="9pt" font-weight="" font-style="" dominant-baseline="" text-anchor="start" type="comment" >1/1</text></g><g c_partid="part_annotation" id="gge190" locked="0" c_origin="943.62495,-14.75" c_shapetype="group" c_etype="pinpart"><text x="943.62495" y="-14.75" fill="#880000" font-family="Verdana" font-size="8pt" font-weight="" font-style="" dominant-baseline="" text-anchor="start" type="comment" >Drawn By:</text></g><g c_partid="part_annotation" id="gge196" locked="0" c_origin="1008.63,-14.75" c_shapetype="group" c_etype="frame_drawn"><text x="1008.63" y="-14.75" fill="#0000FF" font-family="Verdana" font-size="9pt" font-weight="" font-style="" dominant-baseline="" text-anchor="start" type="comment" >bettermakestuff</text></g><g c_partid="part_annotation" id="gge202" locked="0" c_origin="804.62495,-36.75" c_shapetype="group" c_etype="pinpart"><text x="804.62495" y="-36.75" fill="#880000" font-family="Verdana" font-size="8pt" font-weight="" font-style="" dominant-baseline="" text-anchor="start" type="comment" 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.github/images/carriage.webp
.github/images/carriage.webp
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.github/images/line-break-thin.svg
-1
.github/images/line-break-thin.svg
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.github/images/line-break.svg
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.github/images/line-break.svg
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.github/images/transparent.png
.github/images/transparent.png
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README.md
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README.md
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</p>
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<p align="center">
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<img src="https://raw.githubusercontent.com/taciturnaxolotl/myrus/master/.github/images/line-break-thin.svg" />
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<img src="https://raw.githubusercontent.com/taciturnaxolotl/carriage/main/.github/images/line-break-thin.svg" />
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</p>
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## pins
···
20
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5. `D7 (motor2DirPin)` - Direction control for Motor 2
21
21
6. `D1 (enablePin)` - Enable/disable control for both motors
22
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7. `PIN_LED` - LED indicator (pin number not specified in the code snippet)
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<p align="center">
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<img src="https://raw.githubusercontent.com/taciturnaxolotl/carriage/main/.github/images/line-break.svg" />
-456
blot.ino
-456
blot.ino
···
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#include <Servo.h>
2
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#define SPU 80 // 20 teeth pulley, 16 microstep, 2mm a tooth belt, 16*200 microsteps per turn == (16*200)/(20*2) == 80
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#define PIN_SERVO D6
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Servo servo;
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typedef uint8_t (*CallbackFunction)(uint8_t*, int, uint8_t*);
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struct EventCallback {
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String event;
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CallbackFunction callback;
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};
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float pos[] = {0, 0};
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const int motor1StepPin = D10;
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const int motor1DirPin = D9;
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const int motor2StepPin = D8;
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const int motor2DirPin = D7;
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const int enablePin = D1;
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void setup() {
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servo.attach(PIN_SERVO);
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Serial.begin(9600);
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// on("light", onLight);
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on("go", go);
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on("servo", moveServo);
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on("motorsOn", motorsOn);
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on("motorsOff", motorsOff);
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on("moveTowardsOrigin", moveTowardsOrigin);
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on("setOrigin", setOrigin);
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pinMode(motor1StepPin, OUTPUT);
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pinMode(motor1DirPin, OUTPUT);
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pinMode(motor2StepPin, OUTPUT);
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pinMode(motor2DirPin, OUTPUT);
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pinMode(enablePin, OUTPUT); // enable pin
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pinMode(PIN_LED, OUTPUT);
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startupIndicator(); // once startup is finished, indicate to user
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}
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void loop() {
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readSerial();
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}
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void startupIndicator() {
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// flash LED to indicate board is initialized
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for (int i = 0; i < 3; i++) {
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digitalWrite(PIN_LED, 0);
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delay(200);
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digitalWrite(PIN_LED, 1);
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delay(200);
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}
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}
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uint8_t onLight(uint8_t* payload, int length, uint8_t* reply) {
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uint8_t value = payload[0];
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// Serial.println("light it up");
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digitalWrite(PIN_LED, value);
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return 0;
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}
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uint8_t motorsOn(uint8_t* payload, int length, uint8_t* reply) {
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digitalWrite(enablePin, 0);
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return 0;
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}
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uint8_t motorsOff(uint8_t* payload, int length, uint8_t* reply) {
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digitalWrite(enablePin, 1);
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return 0;
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}
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uint8_t moveTowardsOrigin(uint8_t* payload, int length, uint8_t* reply) {
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float x = pos[0];
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float y = pos[1];
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// this ternary may not be neccesary
89
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goTo(
90
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x + ( x < 0 ? 10 : -10),
91
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y + ( y < 0 ? 10 : -10)
92
-
);
93
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return 0;
95
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}
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-
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uint8_t setOrigin(uint8_t* payload, int length, uint8_t* reply) {
98
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pos[0] = 0;
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pos[1] = 0;
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-
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return 0;
102
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}
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/* ------------------------------------------------------------ */
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int bufferIndex = 0;
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uint8_t msgBuffer[100];
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void readSerial() {
111
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while (Serial.available() > 0) {
112
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uint8_t incoming = Serial.read();
113
-
114
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msgBuffer[bufferIndex] = incoming;
115
-
116
-
if (incoming != 0) {
117
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bufferIndex++;
118
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continue; // Proceed to the next byte if current byte is not null
119
-
}
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// Serial.print("RECEIVED: ");
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// for (int i = 0; i < bufferIndex; i++) {
123
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// Serial.print(msgBuffer[i]);
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// Serial.print(", ");
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// }
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// Serial.println("DONE");
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-
128
-
// Now we have a full message, perform COBS decoding
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-
uint8_t decoded[bufferIndex];
130
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cobs_decode(decoded, msgBuffer, bufferIndex);
131
-
132
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// Serial.print("DECODED: ");
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// for (int i = 0; i < bufferIndex; i++) {
134
-
// Serial.print(decoded[i]);
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-
// Serial.print(", ");
136
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// }
137
-
// Serial.println("DONE");
138
-
139
-
// Parse the decoded message
140
-
int i = 0;
141
-
142
-
uint8_t msgLength = decoded[i];
143
-
// Serial.print("MSG-LENGTH: ");
144
-
// Serial.println(msgLength);
145
-
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-
uint8_t msgArr[msgLength];
147
-
i++;
148
-
while (i < 1 + msgLength) {
149
-
msgArr[i-1] = decoded[i];
150
-
i++;
151
-
}
152
-
153
-
// Serial.print("MSGARR: ");
154
-
// for (int i = 0; i < msgLength; i++) {
155
-
// Serial.print(msgArr[i]);
156
-
// Serial.print(", ");
157
-
// }
158
-
// Serial.println("MSGARR-END");
159
-
160
-
uint8_t payloadLength = decoded[i];
161
-
uint8_t payload[payloadLength];
162
-
i++;
163
-
while (i < 1 + msgLength + 1 + payloadLength) {
164
-
payload[i-1-msgLength-1] = decoded[i];
165
-
i++;
166
-
}
167
-
168
-
uint8_t msgCount = decoded[i];
169
-
170
-
// String msg = String((char*)msgArr);
171
-
String msg = byteArrayToString(msgArr, msgLength);
172
-
173
-
// Serial.println(msg);
174
-
175
-
// printArray("PAYLOAD", payload, payloadLength);
176
-
177
-
// Serial.print("MSGCOUNT: ");
178
-
// Serial.println(msgCount);
179
-
180
-
bool triggered = triggerEvent(msg, payload, payloadLength, msgCount);
181
-
182
-
bufferIndex = 0; // Reset the buffer for the next message
183
-
}
184
-
}
185
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186
-
/* ------------------------------------------------------------ */
187
-
188
-
189
-
190
-
const int MAX_EVENTS = 255; // Maximum number of events to store, adjust as needed
191
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EventCallback eventCallbacks[MAX_EVENTS];
192
-
int eventCount = 0;
193
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194
-
const int REPLY_PAYLOAD_LENGTH = 255;
195
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uint8_t reply[REPLY_PAYLOAD_LENGTH];
196
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197
-
void on(String event, CallbackFunction callback) {
198
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if (eventCount < MAX_EVENTS) {
199
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eventCallbacks[eventCount].event = event;
200
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eventCallbacks[eventCount].callback = callback;
201
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eventCount = (eventCount + 1) % MAX_EVENTS;
202
-
} else {
203
-
// Serial.println("Max number of events reached. Wrapping events.");
204
-
}
205
-
}
206
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207
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bool triggerEvent(String event, uint8_t* payload, int payloadLength, uint8_t msgCount) {
208
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for (int i = 0; i < eventCount; i++) {
209
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if (eventCallbacks[i].event == event) {
210
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// want to pass payload and payloadLength, need to get response payload
211
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uint8_t reply_length = eventCallbacks[i].callback(payload, payloadLength, reply);
212
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213
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sendAck(msgCount, reply, reply_length);
214
-
return true;
215
-
}
216
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}
217
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218
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// Serial.println(" No event registered.");
219
-
return false;
220
-
}
221
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222
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const int arrayLength = 7; // + length;
223
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uint8_t byteArray[arrayLength];
224
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225
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void sendAck(uint8_t msgCount, uint8_t* reply, uint8_t length) {
226
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// Serial.println("SEND ACK");
227
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228
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// int arrayLength = 7; // + length;
229
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// static uint8_t byteArray[arrayLength];
230
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231
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byteArray[0] = 0x03;
232
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byteArray[1] = 0x61;
233
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byteArray[2] = 0x63;
234
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byteArray[3] = 0x6B;
235
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byteArray[4] = 0x00;
236
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byteArray[5] = msgCount;
237
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byteArray[6] = 0x0A;
238
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239
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// byteArray[4] = length;
240
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// for (int i = 0; i < length; i++) {
241
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// byteArray[i+5] = reply[i];
242
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// }
243
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// byteArray[5+length] = msgCount;
244
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// byteArray[6+length] = 0x0A;
245
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246
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// Serial.println(msgCount);
247
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// printArray("ACK", byteArray, 5+length);
248
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249
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Serial.write(byteArray, arrayLength);
250
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251
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// uint8_t byteArrayEncoded[arrayLength + 2]; // +2 for possible COBS overhead
252
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// cobs_encode(byteArrayEncoded, byteArray, arrayLength);
253
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// Serial.write(byteArrayEncoded, arrayLength + 2);
254
-
255
-
// printArray("ENCODED-ACK", byteArray, 5+length);
256
-
257
-
}
258
-
259
-
/* ------------------------------------------------------------ */
260
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261
-
void cobs_encode(uint8_t *dst, const uint8_t *src, size_t len) {
262
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size_t read_index = 0;
263
-
size_t write_index = 1;
264
-
size_t code_index = 0;
265
-
uint8_t code = 1;
266
-
267
-
while (read_index < len) {
268
-
if (src[read_index] == 0) {
269
-
dst[code_index] = code;
270
-
code = 1;
271
-
code_index = write_index++;
272
-
read_index++;
273
-
} else {
274
-
dst[write_index++] = src[read_index++];
275
-
code++;
276
-
if (code == 0xFF) {
277
-
dst[code_index] = code;
278
-
code = 1;
279
-
code_index = write_index++;
280
-
}
281
-
}
282
-
}
283
-
284
-
dst[code_index] = code;
285
-
286
-
// Add trailing zero
287
-
if (write_index < len + 2) {
288
-
dst[write_index] = 0;
289
-
}
290
-
}
291
-
292
-
void cobs_decode(uint8_t *dst, const uint8_t *src, size_t len) {
293
-
size_t i, j, dst_i = 0;
294
-
for (i = 0; i < len;) {
295
-
uint8_t code = src[i++];
296
-
for (j = 1; j < code && i < len; j++) {
297
-
dst[dst_i++] = src[i++];
298
-
}
299
-
if (code < 0xFF && dst_i < len) {
300
-
dst[dst_i++] = 0;
301
-
}
302
-
}
303
-
}
304
-
305
-
/* ------------------------------------------------------------ */
306
-
307
-
// TODO: THINK THIS IS BUGGY
308
-
void cobs_print(const String& message) {
309
-
// Convert the message to a byte array
310
-
int length = message.length();
311
-
uint8_t byteArray[length + 1]; // +1 for the null terminator
312
-
message.getBytes(byteArray, length + 1);
313
-
314
-
// Prepare the buffer for the encoded message
315
-
uint8_t encoded[length + 2]; // +2 for possible COBS overhead
316
-
317
-
// Perform COBS encoding
318
-
cobs_encode(encoded, byteArray, length + 1);
319
-
320
-
// Send the encoded message
321
-
Serial.write(encoded, length + 2); // Write the encoded bytes
322
-
}
323
-
324
-
/* ------------------------------------------------------------ */
325
-
326
-
float read_float(uint8_t* buffer, int index) {
327
-
uint8_t byte0 = buffer[index];
328
-
uint8_t byte1 = buffer[index+1];
329
-
uint8_t byte2 = buffer[index+2];
330
-
uint8_t byte3 = buffer[index+3];
331
-
332
-
uint8_t byteArray[] = {byte0, byte1, byte2, byte3};
333
-
float floatValue;
334
-
memcpy(&floatValue, &byteArray, sizeof(floatValue));
335
-
336
-
return floatValue;
337
-
}
338
-
339
-
int read_int(uint8_t* buffer, int index) {
340
-
uint8_t byte0 = buffer[index];
341
-
uint8_t byte1 = buffer[index+1];
342
-
uint8_t byte2 = buffer[index+2];
343
-
uint8_t byte3 = buffer[index+3];
344
-
345
-
uint8_t byteArray[] = {byte0, byte1, byte2, byte3};
346
-
int value;
347
-
memcpy(&value, &byteArray, sizeof(value));
348
-
349
-
return value;
350
-
}
351
-
352
-
String byteArrayToString(byte arr[], int length) {
353
-
String result = "";
354
-
355
-
for (int i = 0; i < length; i++) {
356
-
result += (char)arr[i]; // Convert each byte to a character and append it to the string
357
-
}
358
-
359
-
return result;
360
-
}
361
-
362
-
/* ------------------------------------------------------------------------ */
363
-
364
-
#define EPSILON 0.01
365
-
366
-
void goTo(float x, float y) {
367
-
368
-
// Serial.println("START GOTO");
369
-
370
-
// Set your target distances for each motor (in steps)
371
-
float motor1Target = (x + y) - pos[0];
372
-
float motor2Target = (y - x) - pos[1];
373
-
374
-
// Set motor direction based on target values
375
-
digitalWrite(motor1DirPin, motor1Target >= 0 ? HIGH : LOW);
376
-
digitalWrite(motor2DirPin, motor2Target >= 0 ? HIGH : LOW);
377
-
378
-
// Calculate the relative speeds and maximum duration for both motors
379
-
float maxSteps = max(abs(motor1Target), abs(motor2Target));
380
-
float motor1Speed = abs(motor1Target) / maxSteps;
381
-
float motor2Speed = abs(motor2Target) / maxSteps;
382
-
383
-
unsigned long stepDuration = 500; // The time it takes to perform one step in microseconds
384
-
unsigned long motor1StepInterval = stepDuration / motor1Speed;
385
-
unsigned long motor2StepInterval = stepDuration / motor2Speed;
386
-
387
-
// Initialize variables for step timing
388
-
unsigned long motor1PrevStepTime = 0;
389
-
unsigned long motor2PrevStepTime = 0;
390
-
float motor1Step = 0;
391
-
float motor2Step = 0;
392
-
393
-
// Loop until both motors reach their target steps
394
-
while (abs(motor1Target - motor1Step) > EPSILON || abs(motor2Target - motor2Step) > EPSILON) {
395
-
396
-
397
-
unsigned long currentTime = micros();
398
-
399
-
// Motor 1
400
-
if (abs(motor1Target - motor1Step) > EPSILON && ((currentTime - motor1PrevStepTime) >= motor1StepInterval)) {
401
-
digitalWrite(motor1StepPin, HIGH);
402
-
delayMicroseconds(1);
403
-
digitalWrite(motor1StepPin, LOW);
404
-
delayMicroseconds(1);
405
-
406
-
motor1Step += (motor1Target >= 0 ? 1.0 : -1.0)/SPU;
407
-
motor1PrevStepTime = currentTime;
408
-
}
409
-
410
-
// Motor 2
411
-
if (abs(motor2Target - motor2Step) > EPSILON && ((currentTime - motor2PrevStepTime) >= motor2StepInterval)) {
412
-
digitalWrite(motor2StepPin, HIGH);
413
-
delayMicroseconds(1);
414
-
digitalWrite(motor2StepPin, LOW);
415
-
delayMicroseconds(1);
416
-
417
-
motor2Step += (motor2Target >= 0 ? 1.0 : -1.0)/SPU;
418
-
motor2PrevStepTime = currentTime;
419
-
}
420
-
}
421
-
422
-
// Serial.println("END GOTO");
423
-
424
-
pos[0] += motor1Step;
425
-
pos[1] += motor2Step;
426
-
}
427
-
428
-
uint8_t go(uint8_t* payload, int length, uint8_t* reply) {
429
-
float x = read_float(payload, 0);
430
-
float y = read_float(payload, 4);
431
-
432
-
goTo(x, y);
433
-
434
-
return 0;
435
-
}
436
-
437
-
uint8_t moveServo(uint8_t* payload, int length, uint8_t* reply) {
438
-
int angle = read_int(payload, 0);
439
-
440
-
servo.writeMicroseconds(angle);
441
-
442
-
return 0;
443
-
}
444
-
445
-
/* ------ */
446
-
447
-
void printArray(String label, uint8_t* arr, int arrSize) {
448
-
Serial.print(label);
449
-
Serial.print("-BEGIN: ");
450
-
for (int i = 0; i < arrSize; i++) {
451
-
Serial.print(arr[i]);
452
-
Serial.print(", ");
453
-
}
454
-
Serial.print(label);
455
-
Serial.println("-END");
456
-
}