55 | | |
| 62 | 写真の下部にあるステレオミニジャックはArduino Esploraとの通信用に使いました。[[BR]] |
| 63 | |
| 64 | |
| 65 | == スケッチ == |
| 66 | |
| 67 | Arduino EsploraからのコマンドをArduino Pro Miniで受け取ってサーボモータを動かしています。[[BR]] |
| 68 | Esploraのスライダの位置でジョイスティックで動かすモードと加速度センサで動かすモードを切り替えられるようにしました。[[BR]] |
| 69 | |
| 70 | === Arduino Pro Mini用 === |
| 71 | {{{ |
| 72 | #include <Servo.h> |
| 73 | Servo myservo[2]; |
| 74 | char rcvData = 0; |
| 75 | int servo_angle[2]; |
| 76 | void setup() |
| 77 | { |
| 78 | myservo[0].attach(3); |
| 79 | myservo[1].attach(7); |
| 80 | Serial.begin(9600); |
| 81 | myservo[0].write(90); |
| 82 | myservo[1].write(90); |
| 83 | } |
| 84 | |
| 85 | void loop() |
| 86 | { |
| 87 | servo_angle[0] = 0; |
| 88 | servo_angle[1] = 0; |
| 89 | if(Serial.available() > 0){ |
| 90 | rcvData = Serial.read(); |
| 91 | if(rcvData == 'x'){ |
| 92 | while(!Serial.available()){} |
| 93 | rcvData = Serial.read() - '0'; |
| 94 | servo_angle[0] = rcvData * 100; |
| 95 | while(!Serial.available()){} |
| 96 | rcvData = Serial.read() - '0'; |
| 97 | servo_angle[0] += rcvData * 10; |
| 98 | while(!Serial.available()){} |
| 99 | rcvData = Serial.read() - '0'; |
| 100 | servo_angle[0] += rcvData; |
| 101 | |
| 102 | if(servo_angle[0] >= 0 && servo_angle[0] <= 180){ |
| 103 | myservo[0].write(servo_angle[0]); |
| 104 | Serial.print("SERVO X "); |
| 105 | Serial.print(servo_angle[0]); |
| 106 | } |
| 107 | } |
| 108 | else if(rcvData == 'y'){ |
| 109 | while(!Serial.available()){} |
| 110 | rcvData = Serial.read() - '0'; |
| 111 | servo_angle[1] = rcvData * 100; |
| 112 | while(!Serial.available()){} |
| 113 | rcvData = Serial.read() - '0'; |
| 114 | servo_angle[1] += rcvData * 10; |
| 115 | while(!Serial.available()){} |
| 116 | rcvData = Serial.read() - '0'; |
| 117 | servo_angle[1] += rcvData; |
| 118 | |
| 119 | if(servo_angle[1] >= 0 && servo_angle[1] <= 180){ |
| 120 | myservo[1].write(servo_angle[1]); |
| 121 | Serial.print("SERVO Y "); |
| 122 | Serial.println(servo_angle[1]); |
| 123 | } |
| 124 | } |
| 125 | } |
| 126 | } |
| 127 | |
| 128 | }}} |
| 129 | |
| 130 | |
| 131 | === Arduino Esplora用 === |
| 132 | {{{ |
| 133 | #include <Esplora.h> |
| 134 | #include <SoftwareSerial.h> |
| 135 | |
| 136 | SoftwareSerial mySerial(11,3); |
| 137 | |
| 138 | unsigned long x_angle = 90; |
| 139 | unsigned long y_angle = 90; |
| 140 | int x_stick = 90; |
| 141 | int y_stick = 90; |
| 142 | int x_trim = 20; |
| 143 | int y_trim = 0; |
| 144 | double x_temp = 0.0; |
| 145 | double y_temp = 0.0; |
| 146 | int x_stick2 = 90; |
| 147 | int y_stick2 = 90; |
| 148 | int x_demo = 90; |
| 149 | int y_demo = 90; |
| 150 | int add = 1; |
| 151 | int demo_speed = 100; |
| 152 | void setup() |
| 153 | { |
| 154 | Serial.begin(9600); |
| 155 | mySerial.begin(9600); |
| 156 | } |
| 157 | |
| 158 | void loop() |
| 159 | { |
| 160 | int i = 0; |
| 161 | |
| 162 | int x_axis = Esplora.readAccelerometer(X_AXIS); |
| 163 | int y_axis = Esplora.readAccelerometer(Y_AXIS); |
| 164 | int value = Esplora.readSlider(); |
| 165 | int x_joy = Esplora.readJoystickX(); |
| 166 | int y_joy = Esplora.readJoystickY(); |
| 167 | int uButton = Esplora.readButton(SWITCH_UP); |
| 168 | int dButton = Esplora.readButton(SWITCH_DOWN); |
| 169 | int rButton = Esplora.readButton(SWITCH_RIGHT); |
| 170 | int lButton = Esplora.readButton(SWITCH_LEFT); |
| 171 | |
| 172 | if(value > 812){ |
| 173 | |
| 174 | x_axis = map(x_axis, -180,180,0,180); |
| 175 | y_axis = map(y_axis, -180,180,0,180); |
| 176 | |
| 177 | x_angle = (x_angle * 3 + x_axis) / 4; |
| 178 | y_angle = (y_angle * 3 + y_axis) / 4; |
| 179 | |
| 180 | |
| 181 | Serial.print("x"); |
| 182 | if(x_angle < 10){ |
| 183 | Serial.print("00"); |
| 184 | Serial.print(x_angle); |
| 185 | } |
| 186 | else if(x_angle < 100){ |
| 187 | Serial.print("0"); |
| 188 | Serial.print(x_angle); |
| 189 | } |
| 190 | else{ |
| 191 | Serial.print(x_angle); |
| 192 | } |
| 193 | Serial.print("y"); |
| 194 | if(y_angle < 10){ |
| 195 | Serial.print("00"); |
| 196 | Serial.println(y_angle); |
| 197 | } |
| 198 | else if(y_angle < 100){ |
| 199 | Serial.print("0"); |
| 200 | Serial.println(y_angle); |
| 201 | } |
| 202 | else{ |
| 203 | Serial.println(y_angle); |
| 204 | } |
| 205 | |
| 206 | mySerial.print("x"); |
| 207 | if(x_angle < 10){ |
| 208 | mySerial.print("00"); |
| 209 | mySerial.print(x_angle); |
| 210 | } |
| 211 | else if(x_angle < 100){ |
| 212 | mySerial.print("0"); |
| 213 | mySerial.print(x_angle); |
| 214 | } |
| 215 | else{ |
| 216 | mySerial.print(x_angle); |
| 217 | } |
| 218 | mySerial.print(","); |
| 219 | |
| 220 | |
| 221 | mySerial.print("y"); |
| 222 | |
| 223 | if(y_angle < 10){ |
| 224 | mySerial.print("00"); |
| 225 | mySerial.println(y_angle); |
| 226 | } |
| 227 | else if(y_angle < 100){ |
| 228 | mySerial.print("0"); |
| 229 | mySerial.println(y_angle); |
| 230 | } |
| 231 | else{ |
| 232 | mySerial.println(y_angle); |
| 233 | } |
| 234 | mySerial.print(","); |
| 235 | delay(20); |
| 236 | } |
| 237 | |
| 238 | |
| 239 | else if(value < 212){ |
| 240 | x_joy = map(x_joy,-512,511,180,0); |
| 241 | y_joy = map(y_joy,-512,511,180,0); |
| 242 | x_stick = (x_stick * 3 + x_joy)/4; |
| 243 | y_stick = (y_stick * 3 + y_joy)/4; |
| 244 | |
| 245 | if(x_stick > 85 && x_stick < 95) x_stick = 90; |
| 246 | if(y_stick > 85 && y_stick < 95) y_stick = 90; |
| 247 | |
| 248 | x_temp = x_temp + (x_stick - 90) / 50.0; |
| 249 | y_temp = y_temp + (y_stick - 90) / 50.0; |
| 250 | |
| 251 | if((x_temp + 90) >= 180) x_temp = 90.0; |
| 252 | else if((x_temp + 90) <= 0) x_temp = -90.0; |
| 253 | if((y_temp + 90) >= 180) y_temp = 90.0; |
| 254 | else if((y_temp + 90) <= 0) y_temp = -90.0; |
| 255 | |
| 256 | x_stick2 = x_temp + 90; |
| 257 | y_stick2 = y_temp + 90; |
| 258 | |
| 259 | mySerial.print("x"); |
| 260 | Serial.print("x"); |
| 261 | if(x_stick2 < 10){ |
| 262 | mySerial.print("00"); |
| 263 | mySerial.print(x_stick2); |
| 264 | Serial.print("00"); |
| 265 | Serial.print(x_stick2); |
| 266 | } |
| 267 | else if(x_stick2 < 100){ |
| 268 | mySerial.print("0"); |
| 269 | mySerial.print(x_stick2); |
| 270 | Serial.print("0"); |
| 271 | Serial.print(x_stick2); |
| 272 | } |
| 273 | else{ |
| 274 | mySerial.print(x_stick2); |
| 275 | Serial.print(x_stick2); |
| 276 | } |
| 277 | mySerial.print("y"); |
| 278 | Serial.print("y"); |
| 279 | if(y_stick2 < 10){ |
| 280 | mySerial.print("00"); |
| 281 | mySerial.println(y_stick2); |
| 282 | Serial.print("00"); |
| 283 | Serial.println(y_stick2); |
| 284 | } |
| 285 | else if(y_stick2 < 100){ |
| 286 | mySerial.print("0"); |
| 287 | mySerial.println(y_stick2); |
| 288 | Serial.print("0"); |
| 289 | Serial.println(y_stick2); |
| 290 | } |
| 291 | else{ |
| 292 | mySerial.println(y_stick2); |
| 293 | Serial.println(y_stick2); |
| 294 | } |
| 295 | delay(20); |
| 296 | |
| 297 | } |
| 298 | |
| 299 | else{ |
| 300 | if(x_demo >= 150) add = -1; |
| 301 | else if(x_demo <= 50) add = 1; |
| 302 | |
| 303 | x_demo += add; |
| 304 | delay(demo_speed); |
| 305 | |
| 306 | if(uButton == LOW){ |
| 307 | while(1){ |
| 308 | uButton = Esplora.readButton(SWITCH_UP); |
| 309 | if(uButton == HIGH) break; |
| 310 | } |
| 311 | y_demo += 5; |
| 312 | if(y_demo >= 180) y_demo = 180; |
| 313 | } |
| 314 | if(dButton == LOW){ |
| 315 | while(1){ |
| 316 | dButton = Esplora.readButton(SWITCH_DOWN); |
| 317 | if(dButton == HIGH) break; |
| 318 | } |
| 319 | y_demo -= 5; |
| 320 | if(y_demo <= 0) y_demo = 0; |
| 321 | } |
| 322 | if(rButton == LOW){ |
| 323 | while(1){ |
| 324 | rButton = Esplora.readButton(SWITCH_RIGHT); |
| 325 | if(rButton == HIGH) break; |
| 326 | } |
| 327 | demo_speed += 10; |
| 328 | if(demo_speed >= 200) demo_speed = 200; |
| 329 | |
| 330 | } |
| 331 | if(lButton == LOW){ |
| 332 | while(1){ |
| 333 | lButton = Esplora.readButton(SWITCH_LEFT); |
| 334 | if(lButton == HIGH) break; |
| 335 | } |
| 336 | demo_speed -= 10; |
| 337 | if(demo_speed <= 20) demo_speed = 20; |
| 338 | } |
| 339 | mySerial.print("x"); |
| 340 | Serial.print("x"); |
| 341 | if(x_demo < 10){ |
| 342 | mySerial.print("00"); |
| 343 | mySerial.print(x_demo); |
| 344 | Serial.print("00"); |
| 345 | Serial.print(x_demo); |
| 346 | |
| 347 | } |
| 348 | else if(x_demo < 100){ |
| 349 | mySerial.print("0"); |
| 350 | mySerial.print(x_demo); |
| 351 | Serial.print("0"); |
| 352 | Serial.print(x_demo); |
| 353 | } |
| 354 | else{ |
| 355 | mySerial.print(x_demo); |
| 356 | Serial.print(x_demo); |
| 357 | } |
| 358 | mySerial.print("y"); |
| 359 | Serial.print("y"); |
| 360 | if(y_demo < 10){ |
| 361 | mySerial.print("00"); |
| 362 | mySerial.println(y_demo); |
| 363 | Serial.print("00"); |
| 364 | Serial.println(y_demo); |
| 365 | } |
| 366 | else if(y_demo < 100){ |
| 367 | mySerial.print("0"); |
| 368 | mySerial.println(y_demo); |
| 369 | Serial.print("0"); |
| 370 | Serial.println(y_demo); |
| 371 | } |
| 372 | else{ |
| 373 | mySerial.println(y_demo); |
| 374 | Serial.println(y_demo); |
| 375 | } |
| 376 | delay(20); |
| 377 | } |
| 378 | } |
| 379 | }}} |