Reply To: little problem with timing

[Anonymous]

I have gotten the code you suggested working the same as the old (had to change bitWrite(commands, FORWARD, digitalRead(13)); 

to

bitWrite(commDataOut.commands, FORWARD, digitalRead(13));    etc.

however, I’m still only getting the slave to execute the first command (scan). code follows. I’m sure its in the slave code, but i’m unsure how to write it. I cant use interupts(I dont think) because of timing. Should i use case statements? I’m unsure how to get it working. BTW the slave is actually a pololu 3pi base (ATMEGA328)

 

//MASTER

#include <SoftwareSerial.h>

#include <SoftEasyTransfer.h>

 

unsigned long start, finished, elapsed;

boolean working;

int baseElapsed;

 

 

//ULTRASONIC

int distance;

int shortestDistance = 999;

int lowerDeadZone = 4;

int upperDeadZone = 500;

int sensorAngle = 15;

int pulseTime;

int initPin = 19;

int echoPin = 18;

int averageAmount = 10;

int currentNumber = 0;

int totalRaw;

 

 

//COMMUNICATION

SoftwareSerial BrainS(10, 11);

SoftEasyTransfer CommunicationsOut, CommunicationsIn; //Objects set up

#define Scan 0

#define Forward 1

#define Stop 2

#define Reverse 3

#define Left 4

#define Right 5

#define Complete 6

#define TimeElapsed 7

//byte COMMANDS;

//byte FEEDBACK;

 

struct SEND_DATA_STRUCTURE { //Send commands

byte COMMANDS;

};

struct RECEIVE_DATA_STRUCTURE{ //Receive commands

byte FEEDBACK;

};

SEND_DATA_STRUCTURE commDataOut; //name command groups

RECEIVE_DATA_STRUCTURE commDataIn;

 

 

//MAPPING

//int MAP [100] [100];

 

 

void setup() {

pinMode (initPin, OUTPUT);

pinMode (echoPin, INPUT);

Serial.begin(9600);

BrainS.begin(9600);

CommunicationsIn.begin(details(commDataIn), &BrainS);

CommunicationsOut.begin(details(commDataOut), &BrainS);

delay (2000);

findClosestWall();

}

 

void loop() {

if (CommunicationsIn.receiveData()) {

if (bitRead(commDataIn.FEEDBACK, Complete) == true) {

Serial.println (“Complete!”);

bitClear(commDataIn.FEEDBACK, Complete);

}

//    if (bitRead(FEEDBACK, TimeElapsed) == true) {

//      Serial.print (“time elapsed: “);

//      Serial.println (commDataIn.timeElapsed);

//      baseElapsed = commDataIn.timeElapsed;

//      commDataIn.TIMEELAPSED = LOW;

//    }

}

}

 

void findClosestWall () {

findDistance();

if (working == false) {

Serial.println(commDataOut.COMMANDS, Scan);

bitSet(commDataOut.COMMANDS, Scan);

Serial.println(commDataOut.COMMANDS, Scan);

CommunicationsOut.sendData();

start = millis();

Serial.println(“scan”);

working = true;

}

while (working == true) { //while waiting for base to finish

findDistance();

if (distance < shortestDistance) { //update shortest distance and find time since start

shortestDistance = distance;

finished = millis();

}

if (CommunicationsIn.receiveData()) {

if (bitRead(commDataIn.FEEDBACK, Complete) == HIGH) {

bitClear(commDataIn.FEEDBACK, Complete);

working = false;

elapsed = finished – start; //calculate time to turn

Serial.println(“scan 1 complete”);

Serial.print(“Closest: “);

Serial.println(shortestDistance);

delay (500);

Serial.print(“Time to wall: “);

Serial.println(elapsed);

delay (1000);

Serial.println(“turning towards wall”);

bitSet(commDataOut.COMMANDS, Scan); //turn

CommunicationsOut.sendData();

start = millis();

delay (elapsed);

bitSet(commDataOut.COMMANDS, Stop); //stop after turning towards wall

CommunicationsOut.sendData();

finished = millis();

elapsed = finished – start;

Serial.print(“Stopped after: “);

Serial.println(elapsed);

delay (1000);

findDistance();

while (distance >= lowerDeadZone) {

findDistance();

bitSet(commDataOut.COMMANDS, Forward); //forward

CommunicationsOut.sendData();

Serial.print(“Distance to 0:”);

Serial.println(distance – lowerDeadZone);

}

if (distance <= lowerDeadZone) {

bitSet(commDataOut.COMMANDS, Stop); //stop

CommunicationsOut.sendData();

Serial.println(“found wall”);

delay (200);

}

Serial.println(“turn 180”);

bitSet(commDataOut.COMMANDS, Scan); //turn

CommunicationsOut.sendData();

delay(baseElapsed / 2);

bitSet(commDataOut.COMMANDS, Stop); //stop after turning away from wall

CommunicationsOut.sendData();

}

}

}

}

 

 

void findDistance () {

for (int x = 0; x < averageAmount; x++) {

digitalWrite (initPin, HIGH);

delayMicroseconds (10);

digitalWrite (initPin, LOW);

pulseTime = pulseIn (echoPin, HIGH);

distance = pulseTime/58;

while (distance <= -1 || distance > upperDeadZone) {

digitalWrite (initPin, HIGH);

delayMicroseconds (10);

digitalWrite (initPin, LOW);

pulseTime = pulseIn (echoPin, HIGH);

distance = pulseTime/58;

}

totalRaw += distance;

currentNumber ++;

delay (5);

if (currentNumber == 10) {

distance = totalRaw / averageAmount;

totalRaw = 0;

currentNumber = 0;

}

}

}

 

 

 

//SLAVE

#include <pololu/orangutan.h>

#include <OrangutanMotors.h>

#include <OrangutanLCD.h>

#include <SoftwareSerial.h>

#include <SoftEasyTransfer.h>

 

unsigned long start, finished, elapsed;

int scanTime = 840;

int turnTime = 200;

 

SoftwareSerial BaseS(0, 1);

SoftEasyTransfer CommunicationsIn, CommunicationsOut; //Objects set up

#define Scan 0

#define Forward 1

#define Stop 2

#define Reverse 3

#define Left 4

#define Right 5

#define Complete 6

#define TimeElapsed 7

//byte COMMANDS;

//byte FEEDBACK;

 

struct RECEIVE_DATA_STRUCTURE{ //Receive commands

byte COMMANDS;

};

struct SEND_DATA_STRUCTURE{ //Send commands

byte FEEDBACK;

};

 

RECEIVE_DATA_STRUCTURE commDataIn; //name command groups

SEND_DATA_STRUCTURE commDataOut;

 

void setup() {

BaseS.begin(9600);

CommunicationsIn.begin(details(commDataIn), &BaseS);

CommunicationsOut.begin(details(commDataOut), &BaseS);

}

 

void loop() {

// Recieve and process recieved command

if (CommunicationsIn.receiveData()) {

update:

if (bitRead(commDataIn.COMMANDS, Scan) == true) { //SCAN

OrangutanLCD::clear();

OrangutanLCD::print(“SCAN”);

start = millis();

OrangutanMotors::setSpeeds(80, -80);

while (millis() < start + scanTime) {

if (CommunicationsIn.receiveData()) {

goto update;

}

}

OrangutanMotors::setSpeeds(0, 0);

finished = millis();

elapsed = finished – start;

//commDataOut.TIMEELAPSED = HIGH;

//commDataOut.timeElapsed = elapsed;

bitSet(commDataOut.FEEDBACK, Complete);

CommunicationsOut.sendData();

OrangutanLCD::clear();

bitClear(commDataIn.COMMANDS, Scan);

}

else if (bitRead(commDataIn.COMMANDS, Forward) == true) { //FORWARD

OrangutanLCD::clear();

OrangutanLCD::print(“FORWARD”);

OrangutanMotors::setSpeeds(80, 80);

bitClear(commDataIn.COMMANDS, Forward);

}

else if (bitRead(commDataIn.COMMANDS, Stop) == true) { //STOP

OrangutanLCD::clear();

OrangutanLCD::print(“STOP”);

OrangutanMotors::setSpeeds(0, 0); //stop movement

bitClear(commDataIn.COMMANDS, Scan);

bitClear(commDataIn.COMMANDS, Forward);

bitClear(commDataIn.COMMANDS, Reverse);

bitClear(commDataIn.COMMANDS, Left);

bitClear(commDataIn.COMMANDS, Right);

bitSet(commDataOut.FEEDBACK, Complete);

CommunicationsOut.sendData();

bitClear(commDataIn.COMMANDS, Stop);

}

else if (bitRead(commDataIn.COMMANDS, Reverse) == true) { //REVERSE

OrangutanLCD::clear();

OrangutanLCD::print(“REVERSE”);

OrangutanMotors::setSpeeds(-80, -80);

}

else if (bitRead(commDataIn.COMMANDS, Left) == true) { //LEFT

OrangutanLCD::clear();

OrangutanLCD::print(“LEFT”);

start = millis();

OrangutanMotors::setSpeeds(-80, 80);

while (millis() < start + turnTime) {

if (CommunicationsIn.receiveData()) {

goto update;

}

}

OrangutanMotors::setSpeeds(0, 0);

bitSet(commDataOut.FEEDBACK, Complete);

CommunicationsOut.sendData();

OrangutanLCD::clear();

bitClear(commDataIn.COMMANDS, Left);

}

else if (bitRead(commDataIn.COMMANDS, Right) == true) { //RIGHT

OrangutanLCD::clear();

OrangutanLCD::print(“RIGHT”);

start = millis();

OrangutanMotors::setSpeeds(80, -80);

while (millis() < start + turnTime) {

if (CommunicationsIn.receiveData()) {

goto update;

}

}

OrangutanMotors::setSpeeds(0, 0);

bitSet(commDataOut.FEEDBACK, Complete);

CommunicationsOut.sendData();

OrangutanLCD::clear();

bitClear(commDataIn.COMMANDS, Right);

}

}

}