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@knowblesse
Created February 7, 2022 06:28
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/*
chasingbot.ino
22FEB07
---------------------------------
Required Librarys
---------------------------------
SoftwareSerial - Default
SD - Defulat
TMRpcm - Install from library manager
---------------------------------
Warings
---------------------------------
Music file must have following format
- unsigned 8bit pcm
- 8~32kHz
- mono
*/
// Pin Numbers
// SD card DI - 51
// SD card DO - 50
// SD card CLK - 52
#define SD_PIN 53
#define SPEAKER_PIN 11
#define MOTOR_DIR_PIN 4
#define MOTOR_SPEED_PIN 5
#define BT_RX 31
#define BT_TX 30
//TMRpcm Librarys (Play music)
#include <pcmRF.h>
#include <TMRpcm.h>
#include <pcmConfig.h>
#include <SoftwareSerial.h>
#include <SD.h>
SoftwareSerial BT(BT_RX, BT_TX);
// Motor Variables
#define MOTORSPEED 150 // 0 : no movement, 255 : maximum
// Motor Functions Init.
void motorInit();
void motorStop();
void motorForward();
void motorBackward();
//for test
char letter_cson = 'q';
char letter_csoff = 'w';
char letter_EXStart = 's';
char letter_EXEnd = 'e';
unsigned long time = 0;
long hab = -1; //habituation time
int hstate = 0;
int test = 0;
int prob = 0;
int isi_a = -1; //CS와 다음 CS 사이의 시간
int isi_b = 0; //interstimulus end
long int isi = 0;
int prob_a = 1; //로봇 이동 방향(확률)
int prob_b = 3;
int trial_set = -1; // how many trial do?
int speed1 = -1;
long us_start = -1;
long us_work = -1;
int us_work_1 = 3;
int us_work_2 = 9;
String musicFileName;
int ran1;
int ran2;
int rep = 1;
int rep2 = 1;
//for question
char person_state = 0;
char test_state = 0;
char start_state = 0;
char default_state = 0;
int KI_Mode = 0;
int BM_Mode = 0;
unsigned long starttime;
String serial_input=""; //받는 문자열
unsigned long pre_time = 0;
unsigned long cur_time = 0;
void setup()
{
// Init. Serial Comm.
Serial.begin(115200); // For Debug
Serial1.begin(115200); // SmartPhone
BT.begin(115200); // ANY-MAZE
// Init. Motor
motorInit();
// Init. Speaker
tmrpcm.speakerPin = SPEAKER_PIN;
// Init. SD Card
while (!SD.begin(SD_PIN))
{
Serial.println("No SD card");
delay(1000);
}
// Setup
}
void loop()
{
int x, delay_en;
if(person_state == 0){
Serial1.println("Who are you?");
Serial1.println("a. KI&YB b. BM d. Debug");
}
while(person_state != 1)
{
while(Serial1.available())
{
char val = (char) Serial1.read();
if(val != -1)
{
switch(val)
{
case 'a':
Serial1.println("Choi lab 2.5nd & Crazy Rabbit");
speed1 = 2000;
hab = 120000;
isi_a = 50;
isi_b = 50;
trial_set = 5;
us_start = 7500;
us_work = 2500;
KI_Mode = 1;
musicFileName = "sin1.wav";
break;
case 'b':
Serial1.println("Jay Park in the lab");
BM_Mode = 1;
speed1 = 2000;
hab = 1000;
isi_a = 10;
isi_b = 31;
us_start = 0;
us_work = random(us_work_1, us_work_2);
us_work = us_work * 1000;
trial_set = 8;
musicFileName = "sin1.wav";
ran1 = millis();
break;
case 'd':
test_state = 1;
default_state = 1;
break;
}
val = -1;
person_state = 1;
}
}
}
if(test_state == 0){
Serial1.println("Which condition do you want?");
Serial1.println("a. Conditioning b. Extinction c. Retention/Renwal");
}
while(test_state != 1)
{
while(Serial1.available())
{
char val = (char) Serial1.read();
if(val != -1)
{
switch(val)
{
case 'a':
Serial1.println("conditioning");
break;
case 'b':
Serial1.println("Extinction");
speed1 = 0;
trial_set = 30;
break;
case 'c':
Serial1.println("Retention");
speed1 = 0;
trial_set = 1;
us_start = 10000;
us_work = 1; //그대로 두세용 소리 뒤에 US delay임
if(KI_Mode == 1){
Serial1.println("KI_Mode");
speed1 = 0;
trial_set = 5;
}
break;
}
}
test_state = 1;
val = -1;
}
}
if(default_state == 1)
{
Serial1.println("Do NOT type in before the question completes");
Serial1.println("Robot speed?");
while(speed1 == -1){
while(Serial1.available()){
serial_input = Serial1.readStringUntil('\n');
if(serial_input != -1){
speed1 = serial_input.toInt();
Serial1.println(speed1);
}
}
}
Serial1.println("Habituation time?");
while(hab == -1){
while(Serial1.available()){
serial_input = Serial1.readStringUntil('\n');
if(serial_input != -1){
hab = (serial_input.toInt())*1000;
Serial.println(hab/1000);
}
}
}
Serial1.println("ISI duration?");
while(isi_a == -1){
while(Serial1.available()){
serial_input = Serial1.readStringUntil('\n');
if(serial_input != -1){
isi_a = (serial_input.toInt());
isi_b = (serial_input.toInt()+1);
Serial1.println(isi_a);
}
}
}
Serial1.println("How many trials?");
while(trial_set == -1){
while(Serial1.available()){
serial_input = Serial1.readStringUntil('\n');
if(serial_input != -1){
trial_set = serial_input.toInt();
Serial1.println(trial_set);
}
}
}
Serial1.println("When does the US start after the CS onset?");
while(us_start == -1){
while(Serial1.available()){
serial_input = Serial1.readStringUntil('\n');
if(serial_input != -1){
us_start = (serial_input.toInt())*1000;
Serial1.println(us_start);
}
}
}
Serial1.println("US duration?");
while(us_work == -1){
while(Serial1.available()){
serial_input = Serial1.readStringUntil('\n');
if(serial_input != -1){
us_work = (serial_input.toInt())*1000;
Serial1.println(us_work);
}
}
}
Serial1.println("Which music do you want to play?");
Serial1.println("a. Sin b. whitenoise c. 4season");
while(musicFileName == 0){
while(Serial1.available()){
char val = (char) Serial1.read();
switch(val){
case 'a':
musicFileName = "sin1.wav";
break;
case 'b':
musicFileName = "whitenoise.wav";
break;
case 'c':
musicFileName = "season4.wav";
break;
}
Serial1.println(musicFileName);
}
}
//music = "sin1.wav";
default_state = 0;
}
if(start_state == 0)
{
Serial1.println("Now what?");
Serial1.println("a. start b. reset c. music");
}
while(start_state != 1)
{
while(Serial1.available()) //mySerial에 전송된 값이 있으면
{
char val = (char) Serial1.read();
if(val != -1)
{
switch(val)
{
case 'a':
Serial1.println("test start");
test = 1;
starttime = millis();
BT.write(letter_csoff);
BT.write(letter_EXStart);
ran2 = millis();
start_state = 1;
break;
case 'b':
Serial1.println("option reset");
person_state = 0;
test_state = 0;
speed1 = -1;
isi_a = -1;
hab = -1;
us_start = -1;
us_work = -1;
trial_set = -1;
musicFileName = 0;
start_state = 1;
break;
}
}
}
}
hstate = 0;
int trial = 0;
int initial_state = 0;
int seed = 0;
while(test == 1)
{
time = millis() - starttime;
if(BM_Mode == 1){
if(initial_state == 0){
seed = ((ran2 - ran1) % 2 )+ 1;
initial_state = 1;
}
else{
seed = (seed % 2) + 1;
}
prob = seed;
}
else{
prob = random(prob_a, prob_b);
}
isi = random(isi_a, isi_b);
isi = isi * 1000;
trial = trial + 1;
if(hstate == 0)
{
Serial.print(time);
Serial.println("Hab Start");
Serial1.println("Hab Start");
delay(hab);
hstate = 1;
Serial1.println("Hab End");
}
Serial.print(time);
Serial1.println(trial);
tmrpcm.disable();
if(trial <= trial_set)
{
time = millis() - starttime;
Serial.print(time);
Serial1.println("CS on");
if(BM_Mode == 1){
Serial1.println("BM_Mode");
us_work = random(3, 9);
us_work = us_work * 1000;
}
tmrpcm.play(musicFileName);
BT.write(letter_cson);
delay(us_start);
time = millis() - starttime;
Serial.print(time);
if(prob == 1)
{
Serial1.println("US Forward");
motorForward();
}
if(prob == 2)
{
Serial1.println("US Backward");
motorBackward();
}
//Serial1.println(us_work/1000);
delay(us_work);
time = millis() - starttime;
Serial.print(time);
Serial1.println("CS US off");
tmrpcm.disable();
BT.write(letter_csoff);
motorStop();
time = millis() - starttime;
Serial.print(time);
Serial1.println("ITI start");
Serial1.println(isi/1000);
delay(isi);
Serial1.println("ITI end\n");
}
if(trial == trial_set)
{
Serial.print(time);
Serial1.println("End Test\n");
motorStop();
test = 0;
BT.write(letter_EXEnd);
}
}
test = 0;
start_state = 0;
}
// Motor Functions
void motorInit()
{
pinMode(MOTOR_DIR_PIN, OUTPUT);
pinMode(MOTOR_SPEED_PIN, OUTPUT);
analogWrite(MOTOR_SPEED_PIN, 0);
}
void motorStop()
{
analogWrite(MOTOR_SPEED_PIN, 0);
}
void motorForward()
{
digitalWrite(MOTOR_DIR_PIN, HIGH);
analogWrite(MOTOR_SPEED_PIN,MOTORSPEED);
}
void motorBackward()
{
digitalWrite(MOTOR_DIR_PIN, LOW);
analogWrite(MOTOR_SPEED_PIN,MOTORSPEED);
}
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