This is the beta version of the firmware insde the Head-Arduino
[code]
/*
P.R.U. Personal Robotic Unit
A robot with cat's personality
------------------------------
Head firmware:
Head Pan & tilt
2 ears servo rotating
2 eyes 4 led
*/
#include <Servo.h>
#include <ModbusSlave.h>
/* First step MBS: create an instance */
ModbusSlave mbs;
Servo EarLeft;
Servo EarRight;
Servo Pan;
Servo Tilt;
/* slave registers */
enum {
MB_PAN,
MB_TILT,
MB_R_EYE,
MB_L_EYE,
MB_R_EAR,
MB_L_EAR,
MB_REGS
/* total number of registers on slave */
};
int regs[MB_REGS];
unsigned long wdog = 0; /* watchdog */
unsigned long tprev = 0; /* previous time*/
void set_eye(char eye, boolean l1, boolean l2, boolean l3, boolean l4);
void setup()
{
/* the Modbus slave configuration parameters */
const unsigned char SLAVE = 10;
const long BAUD = 19200;
const char PARITY = 'e';
const char TXENPIN = 7;
/* Second step MBS: configure */
mbs.configure(SLAVE,BAUD,PARITY,TXENPIN);
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);
pinMode(A4, OUTPUT);
pinMode(A5, OUTPUT);
pinMode(2, OUTPUT);
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(A0, OUTPUT);
pinMode(A1, OUTPUT);
pinMode(A2, OUTPUT);
pinMode(A3, OUTPUT);
Pan.attach(9);
Tilt.attach(10);
EarLeft.attach(A4);
EarRight.attach(A5);
}
void loop()
{
/* Third and las step MBS: update in loop*/
if(mbs.update(regs, MB_REGS))
wdog = millis();
if ((millis() - wdog) > 5000) { /* no comms in 5 sec */
// to do
}
/* the values in regs are set by the modbus master */
// Test Pan
if(regs[MB_PAN] != Pan.read())
Pan.write(regs[MB_PAN]);
// Test Tilt
if(regs[MB_TILT] != Tilt.read())
Tilt.write(regs[MB_TILT]);
// Test Ear Left
if(regs[MB_L_EAR] != EarLeft.read())
EarLeft.write(regs[MB_L_EAR]);
// Test Ear Right
if(regs[MB_R_EAR] != EarRight.read())
EarRight.write(regs[MB_R_EAR]);
// Test Left Eye
switch(regs[MB_L_EYE]) {
case 0: // Ronf
set_eye(1, LOW, LOW, LOW, LOW);
break;
case 10: // Mmmmmaaaoooo
set_eye(1, LOW, HIGH, HIGH, LOW);
break;
case 11: // Look R
set_eye(1, LOW, HIGH, LOW, LOW);
break;
case 12: // Look R
set_eye(1, LOW, LOW, HIGH, LOW);
break;
case 13: // Look Up
set_eye(1, HIGH, LOW, LOW, LOW);
break;
case 14: // Looh D
set_eye(1, LOW, LOW, LOW, HIGH);
break;
case 15: // OMG
set_eye(1, HIGH, HIGH, HIGH, HIGH);
break;
}
// Test Right Eye
switch(regs[MB_R_EYE]) {
case 0: // Ronf
set_eye(0, LOW, LOW, LOW, LOW);
break;
case 10: // Mmmmmaaaoooo
set_eye(0, LOW, HIGH, HIGH, LOW);
break;
case 11: // Look R
set_eye(0, LOW, HIGH, LOW, LOW);
break;
case 12: // Look R
set_eye(0, LOW, LOW, HIGH, LOW);
break;
case 13: // Look Up
set_eye(0, HIGH, LOW, LOW, LOW);
break;
case 14: // Looh D
set_eye(0, LOW, LOW, LOW, HIGH);
break;
case 15: // OMG
set_eye(0, HIGH, HIGH, HIGH, HIGH);
break;
}
}
void set_eye(char eye, boolean l1, boolean l2, boolean l3, boolean l4)
{
if (eye==0) {
digitalWrite(A0, l1);
digitalWrite(A1, l2);
digitalWrite(A2, l3);
digitalWrite(A3, l4);
}
if (eye==1) {
digitalWrite(2, l1);
digitalWrite(3, l2);
digitalWrite(4, l3);
digitalWrite(5, l4);
}
}
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