119 lines
3.6 KiB
Plaintext
119 lines
3.6 KiB
Plaintext
/*
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* Sample arduino sketch using contiki features.
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* We turn the LED off
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* We allow read the moisture sensor
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* Unfortunately sleeping for long times in loop() isn't currently
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* possible, something turns off the CPU (including PWM outputs) if a
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* Proto-Thread is taking too long. We need to find out how to sleep in
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* a Contiki-compatible way.
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* Note that for a normal arduino sketch you won't have to include any
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* of the contiki-specific files here, the sketch should just work.
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*/
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extern "C" {
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#include "arduino-process.h"
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#include "rest-engine.h"
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#include "net/netstack.h"
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extern resource_t res_led, res_battery, res_cputemp;
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uint8_t led_pin=4;
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uint8_t led_status;
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}
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// Merkurboard and BB-L298 connected to it.
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// |---------------------------------------------------------------------------|
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// | The connections were as follows: |
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// |--------------------------------|------------------------------------------|
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// |Connector at Merkurboard Grove 4| Connector at BB-L298 |
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// |--------------------------------|------------------------------------------|
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// | Power<3>, 3V | CTRL<1>, +5V |
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// | Power<4>, GND | CTRL<8>, GND |
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// | Power<5>, GND | PWR<2>, GND |
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// | Power<6>, VIN(@12VDC) | PWR<1>, VIN |
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// | DIGITAL<3>, D3 | CTRL<5>, Enable_B |
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// | DIGITAL<17>, D17 | CTRL<6>, IN3 |
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// | DIGITAL<18>, D18 | CTRL<7>, IN4 |
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// |--------------------------------|------------------------------------------|
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#define BB_Enable_B 3
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#define BB_IN3 17
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#define BB_IN4 18
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#define IN3_L digitalWrite(BB_IN3, LOW);
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#define IN3_H digitalWrite(BB_IN3, HIGH);
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#define IN4_L digitalWrite(BB_IN4, LOW);
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#define IN4_H digitalWrite(BB_IN4, HIGH);
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#define button 7
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#include <Grove_LED_Bar.h>
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Grove_LED_Bar bar(9, 8, 1); // Clock pin, Data pin, Orientation
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void setup (void)
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{
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// BB-L298
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arduino_pwm_timer_init ();
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pinMode(BB_IN3, OUTPUT);
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pinMode(BB_IN4, OUTPUT);
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IN3_L;
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IN4_L;
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analogWrite(BB_Enable_B, 0);
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// button
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pinMode(button,INPUT_PULLUP);
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//pinMode(button,INPUT);
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// switch off the led
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pinMode(led_pin, OUTPUT);
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digitalWrite(led_pin, HIGH);
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led_status=0;
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// led bar
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bar.begin();
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// init coap resourcen
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rest_init_engine ();
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#pragma GCC diagnostic ignored "-Wwrite-strings"
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rest_activate_resource (&res_led, "s/led");
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rest_activate_resource (&res_battery, "s/battery");
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rest_activate_resource (&res_cputemp, "s/cputemp");
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#pragma GCC diagnostic pop
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// NETSTACK_MAC.off(1);
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// mcu_sleep_set(128);
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}
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void loop (void)
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{
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static int vbar = 0;
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static int speed = 0;
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static int direction = 1;
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int buttondir = digitalRead(button);
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int sensorValue1 = analogRead(A4);
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int sensorValue2 = analogRead(A5);
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vbar = (1023-sensorValue2)/100;
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if (vbar > 10){
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vbar=0;
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}
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bar.setLevel(vbar);
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speed = (1023-sensorValue2) >> 2;
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//direction
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if (speed == 0){
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direction = buttondir;
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}
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if (direction == 1){
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IN3_L; IN4_H; analogWrite(BB_Enable_B, speed);
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}
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if (direction == 0){
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IN3_H; IN4_L; analogWrite(BB_Enable_B, speed);
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}
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analogWrite(led_pin, 255-speed);
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printf("x: %d , y: %d bar: %d speed: %d bdir: %d direc.: %d\n",sensorValue1 ,sensorValue2, vbar, speed, buttondir, direction);
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}
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