/**
* an Arduino does not need to know about a shield but a shield must know about a Arduino Arduino
* owns the script, but a Shield needs additional support Shields are specific - but plug into a
* generalized Arduino Arduino shields can not be plugged into other uCs
*
* <p>TODO - Program Version & Type injection - with feedback + query to load
*/
@Override
public boolean attach(Arduino inArduino) {
if (inArduino == null) {
error("can't attach - arduino is invalid");
return false;
}
this.arduino = inArduino;
// arduinoName; FIXME - get clear on diction Program Script or Sketch
StringBuffer newProgram = new StringBuffer();
newProgram.append(arduino.getSketch());
// modify the program
int insertPoint = newProgram.indexOf(Arduino.VENDOR_DEFINES_BEGIN);
if (insertPoint > 0) {
newProgram.insert(Arduino.VENDOR_DEFINES_BEGIN.length() + insertPoint, ADAFRUIT_DEFINES);
} else {
error("could not find insert point in MRLComm.ino");
// get info back to user
return false;
}
insertPoint = newProgram.indexOf(Arduino.VENDOR_SETUP_BEGIN);
if (insertPoint > 0) {
newProgram.insert(Arduino.VENDOR_SETUP_BEGIN.length() + insertPoint, ADAFRUIT_SETUP);
} else {
error("could not find insert point in MRLComm.ino");
// get info back to user
return false;
}
insertPoint = newProgram.indexOf(Arduino.VENDOR_CODE_BEGIN);
if (insertPoint > 0) {
newProgram.insert(Arduino.VENDOR_CODE_BEGIN.length() + insertPoint, ADAFRUIT_CODE);
} else {
error("could not find insert point in MRLComm.ino");
// get info back to user
return false;
}
// set the program
Sketch sketch = new Sketch("AdafruitMotorShield", newProgram.toString());
arduino.setSketch(sketch);
// broadcast the arduino state - ArduinoGUI should subscribe to
// setProgram
broadcastState(); // state has changed let everyone know
// servo9.attach(arduinoName, 9); // FIXME ??? - createServo(Integer i)
// servo10.attach(arduinoName, 10);
// error(String.format("couldn't find %s", arduinoName));
return true;
}
public static void main(String[] args) throws InterruptedException {
LoggingFactory.getInstance().configure();
LoggingFactory.getInstance().setLevel(Level.DEBUG);
Servo right = new Servo("servo01");
right.map(5, 180, 5, 180);
log.info("{}", right.calc(1));
log.info("{}", right.calc(3));
right.map(180, 0, 0, 180);
log.info("{}", right.calc(3));
right.map(0, 180, 5, 178);
log.info("{}", right.calc(0));
right.startService();
right.test();
// FIXME - routing of servo.attach("arduino", 3);
Arduino arduino = (Arduino) Runtime.createAndStart("arduino", "Arduino");
arduino.connect("COM4");
arduino.servoAttach(right.getName(), 13);
right.test();
Runtime.createAndStart("gui", "GUIService");
// right.attach(serviceName)
/*
* Servo left = new Servo("left"); left.startService();
*
* //Servo neck = new Servo("neck"); //neck.startService();
*
* for (int i = 0; i < 30; ++i) {
*
* right.attach("arduino", 2); left.attach("arduino", 3);
*
* right.moveTo(120); // 70 back left.moveTo(70); // 118 back
*
* Thread.sleep(10000);
*
* right.moveTo(90); left.moveTo(90);
*
* //right.detach(); //left.detach(); }
*/
}
public void addLocalSensor(String type, int pinNumber, String tags) {
boolean notAdded = true;
if (type.equals("analog")) {
for (int i = 0; i < totalAnalogSensors; i++) {
if (analogSensorPin[i] == pinNumber) notAdded = false;
}
if (notAdded) {
localSensor[totalLocalSensors] =
new LocalSensor(
ANALOG, pinNumber, tags + ",analogRead" + pinNumber, totalLocalSensors++);
}
} else {
for (int i = 2; i < totalDigitalSensors; i++) {
if (digitalSensorPin[i] == pinNumber) notAdded = false;
}
if (notAdded) {
localSensor[totalLocalSensors] =
new LocalSensor(
DIGITAL, pinNumber, tags + ",digitalRead" + pinNumber, totalLocalSensors++);
a.pinMode(pinNumber, Arduino.INPUT);
}
}
localSensorsAdded = true;
}
public Pachuino(PApplet parent, String device, int speed) {
System.out.println(
"\n---------------------\nPachuino version: " + VERSION + "\n---------------------");
pApplet = parent;
for (int i = 0; i < Arduino.list().length; i++) {
System.out.println(Arduino.list()[i]);
}
a = new Arduino(parent, device, speed);
for (int i = 0; i < TOTAL_DIGITAL_IN; i++) {
a.pinMode(i, Arduino.OUTPUT);
}
analogSensorPin = new int[TOTAL_ANALOG_IN];
digitalSensorPin = new int[TOTAL_DIGITAL_IN];
remoteFeed = new int[MAX_REMOTE_FEEDS];
dIn = new DataIn[MAX_REMOTE_FEEDS];
localSensor = new LocalSensor[TOTAL_ANALOG_IN + TOTAL_DIGITAL_IN];
remoteSensor = new RemoteSensor[MAX_REMOTE_SENSORS];
pApplet.registerPre(this);
}
@Override
public void startService() {
super.startService();
arduino.startService();
attach(arduino);
}
public void setSpeed(Integer motorPortNumber, Integer speed) {
arduino.sendMsg(AF_DCMOTOR_SET_SPEED, motorPortNumber - 1, speed);
}
public void run(Integer motorPortNumber, Integer command) {
arduino.sendMsg(AF_DCMOTOR_RUN_COMMAND, motorPortNumber - 1, command);
}
public boolean connect(String port) {
return arduino.connect(port);
}
public void digitalWrite(int pin, int val) {
int tempValue = Arduino.HIGH;
if (val == 0) tempValue = Arduino.LOW;
a.digitalWrite(pin, tempValue);
}
public void analogWrite(int pin, float val) {
a.analogWrite(pin, (int) (val));
}
public void analogWrite(int pin, int val) {
a.analogWrite(pin, val);
}
public int digitalRead(int pin) {
return a.digitalRead(pin);
}
public int analogRead(int pin) {
return a.analogRead(pin);
}