Code Esclave

Rotabator.ino

@@ -1,77 +1,66 @@
- /*
- * Library: https://github.com/bolderflight/MPU9250
-Basic_I2C.ino
-Brian R Taylor
-brian.taylor@bolderflight.com
+#include <WiFi.h>
+#include <WiFiUdp.h> 
+#include <OSCMessage.h> 
+#include <OSCBundle.h> 
+#include <OSCData.h>
+char ssid[] = "cohabit"; // your network SSID (name)
+char pass[] = "lewifidecohabit"; // your network password
 
-Copyright (c) 2017 Bolder Flight Systems
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
-and associated documentation files (the "Software"), to deal in the Software without restriction, 
-including without limitation the rights to use, copy, modify, merge, publish, distribute, 
-sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all copies or 
-substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
-BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
-DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-*/
-/*
- * Updated by Ahmad Shamshiri on July 09, 2018 for Robojax.com
- * in Ajax, Ontario, Canada
- * watch instrucion video for this code: 
-For this sketch you need to connect:
-VCC to 5V and GND to GND of Arduino
-SDA to A4 and SCL to A5
-
-S20A is 3.3V voltage regulator MIC5205-3.3BM5
-*/
-
-#include "MPU9250.h"
-
-float biai = 1.25;
-unsigned long previousTime;
-int interval = 300;
+// A UDP instance to let us send and receive packets over UDP
+WiFiUDP Udp;
+const unsigned int localPort = 16403; // local port to listen for UDP packets (here's where we send the packets)
 int stepPin = 14;
 int dirPin = 12;
-bool pinState = LOW;
-// an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68
-MPU9250 IMU(Wire,0x68);
-int status;
 
-void setup() {
-  // serial to display data
-  Serial.begin(115200);
-  while(!Serial) {}
+void setup()
+{
+Serial.begin(115200);
+// initialize LED digital pin as an output.
+pinMode(stepPin, OUTPUT);
+pinMode(dirPin, OUTPUT);
+Serial.println();
+Serial.print("Connecting to ");
+Serial.println(ssid);
+WiFi.begin(ssid, pass);
 
-  // start communication with IMU 
-  status = IMU.begin();
-  if (status < 0) {
-    Serial.println("IMU initialization unsuccessful");
-    Serial.println("Check IMU wiring or try cycling power");
-    Serial.print("Status: ");
-    Serial.println(status);
-    while(1) {}
-  }
-  pinMode(stepPin,OUTPUT);
-  pinMode(dirPin,OUTPUT);
+while (WiFi.status() != WL_CONNECTED) {
+delay(500);
+Serial.print(".");
+}
+Serial.println("");
+
+Serial.println("WiFi connected");
+Serial.println("IP address: ");
+Serial.println(WiFi.localIP());
+
+Serial.println("Starting UDP");
+Udp.begin(localPort);
+Serial.print("Local port: ");
+Serial.println(localPort);
+digitalWrite(dirPin, HIGH);
 }
 
-void loop() {
-  // read the sensor
-  digitalWrite(dirPin,HIGH);
-  IMU.readSensor();
-  // display the data
+void step(OSCMessage &msg) {
+switch (msg.getInt(0)) {
+case 0:
+digitalWrite(stepPin, LOW);
+break;
+case 1:
+digitalWrite(stepPin, HIGH);
+break;
+}
+}
 
-  if((micros() - previousTime) >= interval){
-    previousTime = micros();
-    pinState = !pinState;
-    digitalWrite(stepPin,pinState);
-    Serial.println(IMU.getAccelX_mss() + IMU.getAccelY_mss() + IMU.getAccelZ_mss() + biai +11);
-  }
-} 
+void loop()
+{
+OSCMessage msg;
+int size = Udp.parsePacket();
+
+if (size > 0) {
+while (size--) {
+msg.fill(Udp.read());
+}
+//step(msg);
+step(msg);
+}
+}