Created
August 3, 2016 22:17
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[self-driving-car] arduino code to go with streaming jpegs and picamera setup
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// assign pin num | |
int right_pin = 6; | |
int left_pin = 7; | |
int forward_pin = 10; | |
int reverse_pin = 9; | |
// duration for output | |
int time = 50; | |
// initial command | |
int command = 0; | |
void setup() { | |
pinMode(right_pin, OUTPUT); | |
pinMode(left_pin, OUTPUT); | |
pinMode(forward_pin, OUTPUT); | |
pinMode(reverse_pin, OUTPUT); | |
Serial.begin(115200); | |
} | |
void loop() { | |
//receive command | |
if (Serial.available() > 0){ | |
command = Serial.read(); | |
} | |
else{ | |
reset(); | |
} | |
send_command(command,time); | |
} | |
void right(int time){ | |
digitalWrite(right_pin, LOW); | |
delay(time); | |
} | |
void left(int time){ | |
digitalWrite(left_pin, LOW); | |
delay(time); | |
} | |
void forward(int time){ | |
digitalWrite(forward_pin, LOW); | |
delay(time); | |
} | |
void reverse(int time){ | |
digitalWrite(reverse_pin, LOW); | |
delay(time); | |
} | |
void forward_right(int time){ | |
digitalWrite(forward_pin, LOW); | |
digitalWrite(right_pin, LOW); | |
delay(time); | |
} | |
void reverse_right(int time){ | |
digitalWrite(reverse_pin, LOW); | |
digitalWrite(right_pin, LOW); | |
delay(time); | |
} | |
void forward_left(int time){ | |
digitalWrite(forward_pin, LOW); | |
digitalWrite(left_pin, LOW); | |
delay(time); | |
} | |
void reverse_left(int time){ | |
digitalWrite(reverse_pin, LOW); | |
digitalWrite(left_pin, LOW); | |
delay(time); | |
} | |
void reset(){ | |
digitalWrite(right_pin, HIGH); | |
digitalWrite(left_pin, HIGH); | |
digitalWrite(forward_pin, HIGH); | |
digitalWrite(reverse_pin, HIGH); | |
} | |
void send_command(int command, int time){ | |
switch (command){ | |
//reset command | |
case 0: reset(); break; | |
// single command | |
case 1: forward(time); break; | |
case 2: reverse(time); break; | |
case 3: right(time); break; | |
case 4: left(time); break; | |
//combination command | |
case 6: forward_right(time); break; | |
case 7: forward_left(time); break; | |
case 8: reverse_right(time); break; | |
case 9: reverse_left(time); break; | |
default: Serial.print("Inalid Command\n"); | |
} | |
} |
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