BT control
in
Integration and Hardware
•
1 year ago
Hi,
delay on the robot platform Arduino and operate it via BT. I have made a program for controlled via mouse, the robot via BT connected, but when I want to move a red dot, so I freeze the whole program. Can you please someone help me? My English is not good, perhaps understand everything. Thanks a lot in advance for your help.
delay on the robot platform Arduino and operate it via BT. I have made a program for controlled via mouse, the robot via BT connected, but when I want to move a red dot, so I freeze the whole program. Can you please someone help me? My English is not good, perhaps understand everything. Thanks a lot in advance for your help.
- PFont pismo;
// import knihoven
import processing.serial.*;
// deklarace promennych - vypocty
float x;
float otaceni;
float y;
float plyn;
// deklarace promennych - motory
float LM;
float PM;
int LMbyte;
int PMbyte;
// deklarace promennych - posuvniky
int Lposuvnik;
int Pposuvnik;
Serial BTser;
////////////////////////////////////////////////////
void setup()
{
size(400,440);
background(102);
// nacteni pisma
pismo = loadFont("Font.vlw");
textFont(pismo, 20);
background(102);
// inicializace serioveho portu
BTser = new Serial(this, "COM19", 9600);
}
////////////////////////////////////////////////////
void souradnice_vypocet()
{
background(102);
//prepocet souradnic
x = mouseX-120;
y = -mouseY+145;
plyn = y/100;
otaceni = x/100;
}
void souradnice_zobrazeni()
{
background(102);
//Vypis souradnic
text("X =",15,280);
text(x,55,280);
text("Y =",15,300);
text(y,65,300);
//Ctverec joysticku
fill(255,255,255);
text("Joystick",80,25);
rectMode(CORNERS);
rect(15,40,225,250);
line(120,40,120,250);
line(15,145,225,145);
//Kurzor
ellipseMode(CENTER);
fill(255,0,0);
ellipse(x+120, -y+145, 10,10);
}
////////////////////////////////////////////////////
void kvadranty()
{
// vypis kvadrantu + vypocet vykonu motoru
fill(255,255,255);
if(x > 0 && y > 0) // 1.kvadrant
{
text("1.kvadrant",15,325);
LM = plyn;
PM = plyn*(1-otaceni);
}
if(x < 0 && y > 0) // 2.kvadrant
{
text("2.kvadrant",15,325);
PM = plyn;
LM = plyn*(1+otaceni);
}
if(x < 0 && y < 0) // 3.kvadrant
{
text("3.kvadrant",15,325);
PM = plyn;
LM = plyn*(1+otaceni);
}
if(x > 0 && y < 0) // 4.kvadrant
{
text("4.kvadrant",15,325);
LM = plyn;
PM = plyn*(1-otaceni);
}
if(x == 0)
{
LM = plyn;
PM = plyn;
}
}
////////////////////////////////////////////////////
void indikace()
{
//Vypis plyn a otaceni
text("Plyn",15,350);
text(plyn,105,350);
text("Otaceni",15,370);
text(otaceni,105,370);
//Vypis motoru
text("L motor",15,395);
text(LM,105,395);
text("P motor",15,415);
text(PM,105,415);
// indikatory motoru
// levy motor
fill(255,255,255);
text("LM",265,25);
rectMode(CORNERS);
rect(255,40,305,250);
fill(0);
line(255,145,305,145);
//posuvnik levy motor
Lposuvnik = 250 - (round(LM*100) + 105);
fill(255,0,0);
rectMode(CENTER);
rect(280,Lposuvnik,50,10);
//pravy motor
fill(255,255,255);
text("PM",345,25);
rectMode(CORNERS);
rect(335,40,385,250);
fill(0);
line(335,145,385,145);
//posuvnik pravy motor
Pposuvnik = 250 - (round(PM*100) + 105);
fill(255,0,0);
rectMode(CENTER);
rect(360,Pposuvnik,50,10);
}
////////////////////////////////////////////////////
void prepocet_ST()
{
//prepocet na hodnotu 1-255
fill(255,255,255);
text("Hodnoty pro",255,280);
text("Sabertooth:",255,300);
// Levy motor
if (LM < 0) {LMbyte = round((1+LM)*63);} // hodnota 1 - 63
if (LM == 0) {LMbyte = 64;} // hodnota 64
if (LM > 0) {LMbyte = round(LM*63 + 64);} // hodnota 65 - 127
if (LMbyte == 0) {LMbyte = 1;} // hodnota 0 vypina oba motory
text("L motor",255,325);
text(LMbyte,335,325);
// Pravy motor
if (PM < 0) {PMbyte = round((1+PM)*63 + 128);} // hodnota 128 - 191
if (PM == 0) {PMbyte = 192;} // hodnota 192
if (PM > 0) {PMbyte = round(PM*63 + 192);} // hodnota 128-191
text("P motor",255,345);
text(PMbyte,335,345);
}
////////////////////////////////////////////////////
void odeslani()
{
//odeslani pres seriovy port
BTser.write(PMbyte);
delay(20);
BTser.write(LMbyte);
delay(20);
}
void draw()
{
if (mousePressed && mouseX >= 20 && mouseX <= 220 && mouseY >= 45 && mouseY <= 245)
{ souradnice_vypocet(); }
souradnice_zobrazeni();
kvadranty();
indikace();
prepocet_ST();
odeslani();
}
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