Merge pull request #12 from oroca/develop

merge from develop

.vscode/settings.json

@@ -5,6 +5,7 @@
     "vector": "cpp",
     "xhash": "cpp",
     "xstring": "cpp",
-    "xutility": "cpp"
+    "xutility": "cpp",
+    "iosfwd": "cpp"
   }
 }

examples/Audio/PlayFile/PlayFile.ino

@@ -4,8 +4,6 @@
   https://blog.naver.com/chcbaram/221416603068
 */
 
-EduBot edubot;
-
 
 
 void setup() {

examples/EduBot_App/EduBot_App.ino

@@ -6,7 +6,6 @@
 #include <image/EduBoy.h>
 
 
-EduBot edubot;
 
 #define MOTOR_SERVICE_UUID                           "e005"
 #define MOTOR_CHARACTERISTIC_SET_STEP_UUID           "34443c33-3356-11e9-b210-d663bd873d93"

examples/EduBot_Main/EduBot_Main.ino

@@ -0,0 +1,44 @@
+#include <EduBot.h>
+
+
+extern void scratch_setup();
+extern void scratch_loop();
+extern void linetrace_setup();
+extern void linetrace_loop();
+extern void stepmotor_setup();
+extern void stepmotor_loop();
+extern void getacc_setup();
+extern void getacc_loop();
+extern void getgyro_setup();
+extern void getgyro_loop();
+extern void getrpy_setup();
+extern void getrpy_loop();
+extern void tof_setup();
+extern void tof_loop();
+extern void audio_setup();
+extern void audio_loop();
+extern void neopixel_setup();
+extern void neopixel_loop();
+
+
+void setup() {
+  // put your setup code here, to run once:
+  edubot.begin(115200);
+
+  edubot.menuAdd("스크래치 3.0", scratch_setup, scratch_loop);
+  edubot.menuAdd("LineTrace", linetrace_setup, linetrace_loop);
+  edubot.menuAdd("StepMotor", stepmotor_setup, stepmotor_loop);
+  edubot.menuAdd("GetAcc", getacc_setup, getacc_loop);
+  edubot.menuAdd("GetGyro", getgyro_setup, getgyro_loop);
+  edubot.menuAdd("GetRPY", getrpy_setup, getrpy_loop);
+  edubot.menuAdd("ToF", tof_setup, tof_loop);
+  edubot.menuAdd("Audio", audio_setup, audio_loop);  
+  edubot.menuAdd("NeoPixel", neopixel_setup, neopixel_loop);  
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  edubot.menuUpdate();
+}
+
+

examples/EduBot_Main/src/GetAcc.cpp

@@ -0,0 +1,35 @@
+#include <EduBot.h>
+
+
+
+
+void getacc_setup() {
+  // put your setup code here, to run once: 
+  edubot.begin(115200);                                   
+}
+
+void getacc_loop() {
+  // put your main code here, to run repeatedly:
+  static uint32_t pre_time; 
+
+
+  if (millis()-pre_time >= 50)
+  {
+    pre_time = millis();
+
+    edubot.lcd.clearDisplay();
+    edubot.lcd.printf(16*0, 16*0, "aX : %f",edubot.imu.getAccX());
+    edubot.lcd.printf(16*0, 16*1, "aY : %f",edubot.imu.getAccY());
+    edubot.lcd.printf(16*0, 16*2, "aZ : %f",edubot.imu.getAccZ());
+    edubot.lcd.display();
+
+    Serial.print("aX : ");
+    Serial.print(edubot.imu.getAccX());
+    Serial.print("\taY : ");
+    Serial.print(edubot.imu.getAccY());
+
+    Serial.print("\taZ : ");
+    Serial.print(edubot.imu.getAccZ());
+    Serial.println();    
+  }   
+}

examples/EduBot_Main/src/GetGyro.cpp

@@ -0,0 +1,34 @@
+#include <EduBot.h>
+
+
+
+void getgyro_setup() {
+  // put your setup code here, to run once:
+  edubot.begin(115200);                                   
+}
+
+void getgyro_loop() {
+  // put your main code here, to run repeatedly:
+  static uint32_t pre_time; 
+
+
+  if (millis()-pre_time >= 50)
+  {
+    pre_time = millis();
+
+    edubot.lcd.clearDisplay();
+    edubot.lcd.printf(16*0, 16*0, "gX : %f",edubot.imu.getGyroX());
+    edubot.lcd.printf(16*0, 16*1, "gY : %f",edubot.imu.getGyroY());
+    edubot.lcd.printf(16*0, 16*2, "gZ : %f",edubot.imu.getGyroZ());
+    edubot.lcd.display();
+
+    Serial.print("gX : ");
+    Serial.print(edubot.imu.getGyroX());
+    Serial.print("\tgY : ");
+    Serial.print(edubot.imu.getGyroY());
+
+    Serial.print("\tgZ : ");
+    Serial.print(edubot.imu.getGyroZ());
+    Serial.println();    
+  }   
+}

examples/EduBot_Main/src/GetRPY.cpp

@@ -0,0 +1,34 @@
+#include <EduBot.h>
+
+
+
+
+void getrpy_setup() {
+  // put your setup code here, to run once: 
+  edubot.begin(115200);                                   
+}
+
+void getrpy_loop() {
+  // put your main code here, to run repeatedly:
+  static uint32_t pre_time; 
+
+  if (millis()-pre_time >= 50)
+  {
+    pre_time = millis();
+
+    edubot.lcd.clearDisplay();
+    edubot.lcd.printf(16*0, 16*0, "R : %f",edubot.imu.getRoll());
+    edubot.lcd.printf(16*0, 16*1, "P : %f",edubot.imu.getPitch());
+    edubot.lcd.printf(16*0, 16*2, "Y : %f",edubot.imu.getYaw());
+    edubot.lcd.display();
+
+    Serial.print("R : ");
+    Serial.print(edubot.imu.getRoll());
+    Serial.print("\tP : ");
+    Serial.print(edubot.imu.getPitch());
+
+    Serial.print("\tY : ");
+    Serial.print(edubot.imu.getYaw());
+    Serial.println();    
+  }   
+}

examples/EduBot_Main/src/LineTrace.cpp

@@ -0,0 +1,92 @@
+#include <EduBot.h>
+
+
+
+
+static int step_speed = 90;
+
+void linetrace_setup() {
+  // put your setup code here, to run once:
+
+  edubot.begin(115200);                                     
+}
+
+void linetrace_loop() {
+  // put your main code here, to run repeatedly
+  int x = 0;
+  int y = 0;
+  int sen[4];
+  static uint8_t mode = 0;
+  static int line_pos = 0;
+
+
+  edubot.lcd.clearDisplay();
+
+
+  sen[0] = edubot.floor_sensor.getRightOut();
+  sen[1] = edubot.floor_sensor.getRightIn();
+  sen[2] = edubot.floor_sensor.getLeftIn();
+  sen[3] = edubot.floor_sensor.getLeftOut();
+
+
+  if (mode == 0)
+  {
+    edubot.lcd.printf(0, 16*0, "%d", sen[0]);
+    edubot.lcd.printf(0, 16*1, "%d", sen[1]);
+    edubot.lcd.printf(0, 16*2, "%d", sen[2]);
+    edubot.lcd.printf(0, 16*3, "%d", sen[3]);
+  }
+  else if (mode == 1) 
+  {
+    for (int i=0; i<4; i++)
+    {
+      sen[i] = map(sen[i], 0, 255, 1, 60);
+      edubot.lcd.fillRect(11 + 32*i, 64-sen[i], 10, sen[i], WHITE);      
+    }    
+
+    line_pos = (sen[1]-sen[2])/1;
+
+    edubot.lcd.fillRect(64- 5 + line_pos, 4, 10, 4, WHITE);
+
+
+    int left_speed;
+    int right_speed;
+
+    left_speed = step_speed - line_pos*2;
+    right_speed = step_speed + line_pos*2;
+
+    if ( sen[1] < 2 && sen[2] < 2)
+    {
+      left_speed = 0;
+      right_speed = 0;
+    }
+
+    edubot.led.leftBright(0, sen[2], 0);
+    edubot.led.rightBright(0, sen[1], 0);
+
+    if (edubot.tof_L.distance_mm < 60 || edubot.tof_R.distance_mm < 80)
+    {
+      left_speed = 0;
+      right_speed = 0;      
+    }
+    edubot.motor.setSpeed(left_speed, right_speed);
+
+  }
+  else
+  {
+    edubot.motor.setSpeed(0, 0);
+    edubot.lcd.printf(0, 0 , "L %d mm", edubot.tof_L.distance_mm);
+    edubot.lcd.printf(0, 16, "R %d mm", edubot.tof_R.distance_mm);
+  }
+  edubot.lcd.display();
+
+  delay(1);  
+
+  if (edubot.buttonGetPressed() == true)
+  {
+    while(edubot.buttonGetPressed() == true);
+
+    mode++;
+    mode %= 3;
+  }  
+}

examples/EduBot_Main/src/NeoPixel.cpp

@@ -0,0 +1,57 @@
+#include <EduBot.h>
+
+
+
+
+
+void neopixel_setup() {
+  // put your setup code here, to run once:
+
+  edubot.begin(115200);                                     
+
+}
+
+void neopixel_loop() {
+  // put your main code here, to run repeatedly
+  static uint8_t led_bright = 0;
+  static int led_dir = 1;
+  static int led_index = 0;   
+
+
+  edubot.lcd.clearDisplay();
+
+  if (led_index == 0)
+  {
+    edubot.led.leftBright(led_bright, 0, 0);
+    edubot.led.rightBright(led_bright, 0, 0);
+
+    edubot.lcd.printf(16*0, 16*0, "빨간색 : %d", led_bright);
+  }
+  else if(led_index == 1)
+  {
+    edubot.led.leftBright(0, led_bright, 0);
+    edubot.led.rightBright(0, led_bright, 0);    
+    edubot.lcd.printf(16*0, 16*0, "그린색 : %d", led_bright);
+  }
+  else
+  {
+    edubot.led.leftBright(0, 0, led_bright);
+    edubot.led.rightBright(0, 0, led_bright);    
+    edubot.lcd.printf(16*0, 16*0, "파란색 : %d", led_bright);
+  }
+  edubot.lcd.display();   
+
+  led_bright += led_dir;  
+
+  if (led_bright == 255)
+  {
+    led_dir = -1;
+  }
+  if (led_bright == 0)
+  {
+    led_dir = 1;
+    led_index++;
+    led_index %= 3;
+  }  
+  delay(2);
+}