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aaron.ino
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#include <Math.h>
#include <Max3421e.h>
#include <Usb.h>
#include <AndroidAccessory.h>
#include <Servo.h>
#include <Wire.h>
#include <WireExt.h>
//read from csv files eachline is 20/30ms
//Vibrate.java form stream.start
//look for encoding into PWR[i] in andriod
//create a buffer for 7 bytes
//send one character instead of
//copy Disable() similar to sending
#define UPDATE_PERIOD 5
#define MAX_MOTOR_LIST_SIZE 100
#define TOTAL_MOTOR 3
#define MSG_ENABLE '1'
#define MSG_DISABLE '2'
#define MSG_PWR_DATA '3'
#define MSG_CLR_DATA '4'
#define MSG_PWR_DATA_OK '5'
#define MSG_RCV_SUCCESS '6'
#define MSG_PWR_DATA_FULL '7'
#define MSG_PWR_DATA_END '8'
#define HEAD_HAPPY_SQZ 'a'
#define HEAD_SAD 'b'
#define HEAD_AFRAID 'c'
#define HEAD_SURPRISED 'd'
#define HEAD_EX_HAPPY 'f'
#define HEAD_HAPPY_STR 'g'
#define TEMPERATURE 'e'
#define HEAD_NEUTRAL 'h'
#define D6T_addr 0x0A
#define D6T_cmd 0x4C
//Declaration of I2C port nos for Thermopile
Servo topdownservo;
Servo leftrightservo;
struct MotPin
{
int iPwr;
int iPos;
};
struct MotControl
{
bool bDisable;
int iMaxPos;
int iMinPos;
};
#define PIN_ENABLE 22
MotPin pPin[2];
MotControl pCtrl[2];
int i,pMode=0;
int iMot;
//Current power for motor to move---> current mode it is in
int pPwr[2];
//Timeout to update data
unsigned long ulMillis;
//Current power for motor to move
//List of motor values
int lVal[MAX_MOTOR_LIST_SIZE][TOTAL_MOTOR];
int iValHeadIdx;
int iValTailIdx;
int iValSize;
int iValTimeout;
char pBuf[30];
int iBuf;
char pMsg[6+3+TOTAL_MOTOR*2];
//Declaration for Thermopile
int rbuf[35];
float tdata[16];
float t_PTAT;
float Avg_Temp;
AndroidAccessory pAndroidUSB("Google, Inc.", "DemoKit", "DemoKit Arduino Board", "1.0", "http://www.android.com", "0000000012345678");
void setup()
{
//Delay parameters
ulMillis = millis();
memset(pPwr, 0, sizeof(pPwr));
//Init motor parameters
pPin[0].iPwr = 9;pPin[0].iPos = 0;
pPin[1].iPwr = 10;pPin[1].iPos = 0;
pCtrl[0].bDisable = false; pCtrl[0].iMaxPos = 180; pCtrl[0].iMinPos = 0;
pCtrl[1].bDisable = false; pCtrl[1].iMaxPos = 180; pCtrl[1].iMinPos = 0;
MotPin* pMotPin;
for (int i=0; i<2; i++)
{
pMotPin = &pPin[i];
pinMode(pMotPin->iPwr, OUTPUT);
}
topdownservo.attach(pPin[0].iPwr);
leftrightservo.attach(pPin[1].iPwr);
//List of values
iValHeadIdx = 0;
iValTailIdx = 0;
iValSize = 0;
iValTimeout = 0;
iBuf = 0;
memset(pBuf, sizeof(pBuf), 0);
pMsg[0] = 0; pMsg[1] = 0; pMsg[2] = 0;
DisableMotor();
Serial.begin(115200);
Serial.print("BEGIN");
pAndroidUSB.powerOn();
Wire.begin();
}
void ReadADK()
{
//Within a very short time frame, we will do following to ensure fast response
// - Read command from host
// - Response to host to let host know the command result (such as memory is
// full, or receive successfully)
// - Exit this function. Because motor needs critical time, any pending command
// will need to wait for next loop. Host will definitely wait for reply from
// Arduino to send more command. Otherwise, it will make serial port congest
//Read at most 40 characters into buffer
int iRdLen = pAndroidUSB.read(&pBuf[iBuf], sizeof(pBuf)-iBuf, 1);
if (iRdLen > 0)
{
iBuf += iRdLen;
ParseMsg();
}
}
void ShiftBuf(int iIdx)
{
iBuf -= iIdx;
for (int i=0; i<iBuf; i++)
pBuf[i] = pBuf[i+iIdx];
}
void ParseMsg()
{
if (iBuf <= 4)
return;
int i;
int iMsgLen;
int iTmp;
while (iBuf > 4)
{
//First 3 bytes must be 0
if (pBuf[0] != 0)
{
ShiftBuf(1);
continue;
}
if (pBuf[1] != 0)
{
ShiftBuf(2);
continue;
}
if (pBuf[2] != 0)
{
ShiftBuf(3);
continue;
}
//4th byte as message length
iMsgLen = pBuf[3];
if (iMsgLen == 0 || iMsgLen > 1+TOTAL_MOTOR*2)
{
ShiftBuf(4);
return;
}
else if ((7 + iMsgLen) > iBuf)
return;
//Last 3 byte must be 1
if (pBuf[4+iMsgLen] != 1 || pBuf[5+iMsgLen] != 1 || pBuf[6+iMsgLen] != 1)
{
ShiftBuf(4);
continue;
}
ShiftBuf(4);
ParseCmd(iMsgLen, pBuf);
ShiftBuf(iMsgLen+3);
}
}
void ParseCmd(int iMsgLen, char* pMsg)
{
char cChar;
Serial.println(pMsg[0]);
switch (pMsg[0])
{
case MSG_PWR_DATA:
{
if (iMsgLen != 1+TOTAL_MOTOR*2)
return;
EnableMotor();
if (iValSize < MAX_MOTOR_LIST_SIZE)
{
for (int i=0; i<TOTAL_MOTOR; i++)
{
lVal[iValTailIdx][i] = (int)(pMsg[1+i*2] & 0xFF);
if ((pMsg[2+i*2] & 0xFF) == 0xFF)
lVal[iValTailIdx][i] = -lVal[iValTailIdx][i];
}
cChar = MSG_PWR_DATA_OK;
iValSize++;
iValTailIdx = (iValTailIdx+1)%MAX_MOTOR_LIST_SIZE;
//If memory is full, inform Android to pause sending immediately
if (iValSize == MAX_MOTOR_LIST_SIZE)
{
cChar = MSG_PWR_DATA_FULL;
Serial.println("DataMemFull");
}
}
else
{
cChar = MSG_PWR_DATA_FULL;
Serial.println("DataMemFull");
}
ResponseShort(cChar);
}
break;
case MSG_CLR_DATA:
Serial.println("Clear data");
iValSize = 0;
iValTailIdx = 0;
iValHeadIdx = 0;
for (int i=0; i<2; i++)
//SetPwr(i, 0);
ResponseShort(MSG_RCV_SUCCESS);
break;
case MSG_ENABLE:
Serial.println("Enable motor");
EnableMotor();
ResponseShort(MSG_RCV_SUCCESS);
break;
case MSG_DISABLE:
Serial.println("Disable motor");
DisableMotor();
ResponseShort(MSG_RCV_SUCCESS);
break;
case HEAD_HAPPY:
Serial.println("HAPPY");
HappyShake(2);
ResponseShort(MSG_RCV_SUCCESS);
break;
case HEAD_SAD:
Serial.println("SAD");
ShakeHead(1,3);
ResponseShort(MSG_RCV_SUCCESS);
break;
case HEAD_AFRAID:
Serial.println("AFRAID");
leftrightservo.write(120);
ShakeHead(0,1);
ResponseShort(MSG_RCV_SUCCESS);
break;
case HEAD_SURPRISED:
Serial.println("SURPRISED");
leftrightservo.write(120);
ShakeHead(0,3);
ResponseShort(MSG_RCV_SUCCESS);
break;
}
}
void ResponseShort(char cCmd)
{
pMsg[3] = 1;
pMsg[4] = cCmd;
pMsg[5] = 1; pMsg[6] = 1; pMsg[7] = 1;
pAndroidUSB.write(&pMsg[0], 8);
}
void EnableMotor()
{
for (int i=0; i<2; i++)
pPin[i].iPos=50;
}
void DisableMotor()
{
for (int i=0; i<2; i++)
pPin[i].iPos=pPin[i].iPos;
}
void HappyShake(int iSpeed)
{
for(pPin[1].iPos =pPin[1].iPos; pPin[1].iPos < 180; pPin[1].iPos += iSpeed) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
leftrightservo.write(pPin[1].iPos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for(pPin[0].iPos = 180; pPin[0].iPos >= 1; pPin[0].iPos -= iSpeed) // goes from 180 degrees to q0 degrees
{
topdownservo.write(pPin[0].iPos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for(pPin[0].iPos= pPin[0].iPos; pPin[0].iPos < 180; pPin[0].iPos += iSpeed) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
topdownservo.write(pPin[0].iPos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for(pPin[1].iPos = 180; pPin[1].iPos>=1; pPin[1].iPos -= iSpeed) // goes from 180 degrees to 0 degrees
{
leftrightservo.write(pPin[1].iPos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for(pPin[0].iPos = 180; pPin[0].iPos >= 1; pPin[0].iPos -= iSpeed) // goes from 180 degrees to q0 degrees
{
topdownservo.write(pPin[0].iPos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for(pPin[0].iPos= pPin[0].iPos; pPin[0].iPos < 180; pPin[0].iPos += iSpeed) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
topdownservo.write(pPin[0].iPos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
}
void ShakeHead(int iMot, int iSpeed)//0->Up 1->Side
{
if(iMot==0)
{
for(pPin[0].iPos= pPin[0].iPos; pPin[0].iPos < 180; pPin[0].iPos += iSpeed) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
topdownservo.write(pPin[0].iPos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for(pPin[0].iPos = 180; pPin[0].iPos >= 1; pPin[0].iPos -= iSpeed) // goes from 180 degrees to q0 degrees
{
topdownservo.write(pPin[0].iPos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
}else if(iMot==1)
{
for(pPin[1].iPos =pPin[1].iPos; pPin[1].iPos < 180; pPin[1].iPos += iSpeed) // goes from 0 degrees to 180 degrees
{ // in steps of 1 degree
leftrightservo.write(pPin[1].iPos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for(pPin[1].iPos = 180; pPin[1].iPos>=1; pPin[1].iPos -= iSpeed) // goes from 180 degrees to 0 degrees
{
leftrightservo.write(pPin[1].iPos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
}
}
/*void SetPwr(int iMot, int iPwr)
{
MotPin* pMotPin = &pPin[iMot];
if (pCtrl[iMot].bDisable)
return;
if (iPwr < 0)
{
digitalWrite(pMotPin->iDin2, HIGH);
digitalWrite(pMotPin->iDin1, LOW);
}
else
{
digitalWrite(pMotPin->iDin2, LOW);
digitalWrite(pMotPin->iDin1, HIGH);
}
//Adjust the power to prevent motor move too fast or not enough power to move
unsigned int uiAbsPwr = abs(iPwr);
if (uiAbsPwr > pCtrl[iMot].iMaxPwr)
uiAbsPwr = pCtrl[iMot].iMaxPwr;
else if (uiAbsPwr < pCtrl[iMot].iMinPwr && uiAbsPwr != 0)
uiAbsPwr = pCtrl[iMot].iMinPwr;
analogWrite(pMotPin->iPwr, uiAbsPwr);
}
*/
void thermopile()
{
int i;
Wire.beginTransmission(D6T_addr);
Wire.write(D6T_cmd);
Wire.endTransmission();
if (WireExt.beginReception(D6T_addr) >= 0)
{
i = 0;
for (i = 0; i < 35; i++) {
rbuf[i] = WireExt.get_byte();
}
WireExt.endReception();
t_PTAT = (rbuf[0]+(rbuf[1]<<8))*0.1;
for (i = 0; i < 16; i++) {
tdata[i]=(rbuf[(i*2+2)]+(rbuf[(i*2+3)]<<8))*0.1;
}
Avg_Temp = (tdata[5] + tdata[6] + tdata[9] + tdata[10])/4;
Serial.print("Average Temperature =");
Serial.println(Avg_Temp);
}
delay(500);
}
void Temperature()
{
float Avg_Temp_Display;
if(Avg_Temp<=30.0 && Avg_Temp>5.0) //Ambient temperature
{
Avg_Temp_Display = Avg_Temp;
}
else if(Avg_Temp>30.0 && Avg_Temp<36.0)//Body temperature
{
Avg_Temp_Display = Avg_Temp * 1.08;
}
else if(Avg_Temp>=36.0 && Avg_Temp<40.0)//High temperature
{
Avg_Temp_Display = Avg_Temp;
}
else //No user
{
Serial.println("No user");
Avg_Temp_Display = 0;
}
//Changing values to send
int Avg_Temp_Int = Avg_Temp_Display;
int Avg_Temp_Decimal = (Avg_Temp_Display * 10);
Avg_Temp_Decimal = Avg_Temp_Decimal % 10;
//Show edited values
Serial.print(Avg_Temp_Int);
Serial.print(".");
Serial.println(Avg_Temp_Decimal);
//Send temperature data to Android in int
pMsg[0] = 0; pMsg[1] = 0; pMsg[2] = 0;
pMsg[3] = 4;
pMsg[4] = TEMPERATURE;
pMsg[5] = Avg_Temp_Int/10;
pMsg[6] = Avg_Temp_Int%10;
pMsg[7] = Avg_Temp_Decimal;
pMsg[8] = 1; pMsg[9] = 1; pMsg[10] = 1;
pAndroidUSB.write(&pMsg[0], 11);
}
void loop()
{
if (pAndroidUSB.isConnected())
{
int i;
unsigned long ulNow = millis();
thermopile();
Temperature();
if (ulNow > ulMillis + UPDATE_PERIOD)
{
//Update new power from Android
if (iValSize > 0)
{
int iCntZero = 0;
for (i=0; i<TOTAL_MOTOR; i++)
{
pPwr[i] = lVal[iValHeadIdx][i];
if (pPwr[i] == 0)
iCntZero++;
}
if (iCntZero == TOTAL_MOTOR)
{
ResponseShort(MSG_PWR_DATA_END);
iValTimeout = 101;
DisableMotor();
}
else
iValTimeout = 0;
if (iValSize <= MAX_MOTOR_LIST_SIZE)
ResponseShort(MSG_PWR_DATA_OK);
iValSize--;
iValHeadIdx = (iValHeadIdx+1)%MAX_MOTOR_LIST_SIZE;
}
else if (iValTimeout < 100)
iValTimeout++;
else if (iValTimeout == 100)
{
iValTimeout++;
ResponseShort(MSG_PWR_DATA_END);
memset(pPwr, 0, sizeof(pPwr));
DisableMotor();
}
//Update timer to next counter. Addition will guarantee the counting of
//timer instead of the distance between 2 time spots
ulMillis += UPDATE_PERIOD;
//Set motor power
//for (i=0; i<TOTAL_MOTOR; i++)
//SetPwr(i, pPwr[i]);
}
//Monitor serial data (connecting to shield) to response on time
ReadADK();
}
else
{
DisableMotor();
}
}