Hi, I am trying to program sound module with MCU communicator, with case as followed in arduino
case 100: // play "0000.ad4"
sendCommand(0x0000); //delay(3000);
break;
case 101 : // play "0001.ad4"
sendCommand(0x0001);//delay(200);
break;
case 102 : // play "0001.ad4"
sendCommand(STOP);//delay(200);
break;
case 103 : // play "0001.ad4"
sendCommand(PLAY_PAUSE);//delay(200);
break;
default : break;
However the respond in the sound module is not as expected, when clicking s, by right rr corresponding send value 100, it does send by monitoring the " Watch variable" it does send value at my keyboard however upon realising it goes to 0, so i assumed the value has been sent to arduino trigger the sound 1 which is
case 100: // play "0000.ad4"
sendCommand(0x0000);
break;
however, my observation, i need to hold the 's' for 5 second in order the sound to be played, how do I improve on this so just by pressing 's' or other function key it will plays the sounds right away
http://youtu.be/fBq5Rl2olsw
http://youtu.be/iAVzeXl3KO8
I am also having issue on the roborealm freeze quite often so i can close it or do some adjustment I need to force closed with windows task manager
http://youtu.be/DW2CyXdYRMo
below is the robo files and arduino files
#include <Servo.h>
Servo myservo; // create servo object to control a servo
/* SETTING FOR MCU COMMUNICATOR */
#define MCU_GET_ID 1
#define MCU_END_FRAME 2
#define MCU_SET_NUMBER_MAILBOX 3
#define MCU_SET_TEXT_MAILBOX 4
#define MCU_SET_LOGIC_MAILBOX 5
#define MCU_GET_NUMBER_MAILBOX 6
#define MCU_GET_TEXT_MAILBOX 7
#define MCU_GET_LOGIC_MAILBOX 8
unsigned char mailboxToSend[20];
unsigned char mailboxSendFlag[20];
unsigned long intValue[20];
unsigned char logicValue[20];
unsigned char *textValue[20];
unsigned char textStore[1024];
int textStoreTop=0;
/* SETTING FOR SOUND CARD,
using pin 2,3,8 , with functionality as follows */
const int clockPin = 2; // the pin number of the clock pin
const int dataPin = 3; // the pin number of the data pin
const int resetPin = 4; // the pin number of the reset pin
const unsigned int VOLUME_0 = 0xFFF0;
const unsigned int VOLUME_1 = 0xFFF1;
const unsigned int VOLUME_2 = 0xFFF2;
const unsigned int VOLUME_3 = 0xFFF3;
const unsigned int VOLUME_4 = 0xFFF4;
const unsigned int VOLUME_5 = 0xFFF5;
const unsigned int VOLUME_6 = 0xFFF6;
const unsigned int VOLUME_7 = 0xFFF7;
const unsigned int PLAY_PAUSE = 0xFFFE;
const unsigned int STOP = 0xFFFF;
/* send command to sound card for playing audio */
void sendCommand(unsigned int command) {
// start bit
digitalWrite(clockPin, LOW);
delay(2);
// bit15, bit14, ... bit0
for (unsigned int mask = 0x8000; mask > 0; mask >>= 1) {
if (command & mask) {
digitalWrite(dataPin, HIGH);
}
else {
digitalWrite(dataPin, LOW);
}
// clock low
digitalWrite(clockPin, LOW);
delayMicroseconds(200);
// clock high
digitalWrite(clockPin, HIGH);
delayMicroseconds(200);
}
// stop bit
delay(2);
}
void setup()
{
Serial.begin(115200);
myservo.attach(9);
int i;
for (i=0;i<20;i++) { mailboxToSend[i]=0; mailboxSendFlag[i]=0; }
// set pin 13 to output so we can flash the LED
pinMode(13, OUTPUT);
//setting for driving two dc motors
for(i=4;i<=7;i++)
pinMode(i, OUTPUT);
//Setting for sound card
pinMode(clockPin, OUTPUT);
pinMode(dataPin, OUTPUT);
pinMode(resetPin, OUTPUT);
digitalWrite(clockPin, HIGH);
digitalWrite(dataPin, LOW);
// reset the module
digitalWrite(resetPin, HIGH);
delay(100);
digitalWrite(resetPin, LOW);
delay(10);
digitalWrite(resetPin, HIGH);
delay(100);
sendCommand(VOLUME_1);
}
unsigned char getByte()
{
while (Serial.available() <= 0) continue;
return Serial.read();
}
void loop()
{
unsigned char buffer[8];
while (Serial.available()>0)
{
unsigned char command;
unsigned char mailbox;
unsigned char crc;
int hold;
// command is the only byte that should have bit 7 set.
do
{
command = getByte();
}
while ((command&128)==0);
crc = command;
command^=128;
switch (command)
{
// init
case MCU_GET_ID:
Serial.print("MCUC");
break;
case MCU_SET_NUMBER_MAILBOX:
if ((buffer[0] = getByte())&128) continue;
crc ^= buffer[0];
if ((buffer[1] = getByte())&128) continue;
crc ^= buffer[1];
if ((buffer[2] = getByte())&128) continue;
crc ^= buffer[2];
if ((buffer[3] = getByte())&128) continue;
crc ^= buffer[3];
if ((buffer[4] = getByte())&128) continue;
crc ^= buffer[4];
if ((buffer[5] = getByte())&128) continue;
crc ^= buffer[5];
if ((buffer[6] = getByte())&128) continue;
if ((crc&127)!=buffer[6]) continue;
intValue[buffer[0]] = (unsigned long)buffer[1]|((unsigned long)buffer[2]<<7)|((unsigned long)buffer[3]<<14)|((unsigned long)buffer[4]<<21)|((unsigned long)buffer[5]<<28);
mailboxToSend[buffer[0]]=0;
break;
case MCU_SET_LOGIC_MAILBOX:
if ((buffer[0] = getByte())&128) continue;
crc ^= buffer[0];
if ((buffer[1] = getByte())&128) continue;
crc ^= buffer[1];
if ((buffer[2] = getByte())&128) continue;
if ((crc&127)!=buffer[2]) continue;
logicValue[buffer[0]] = buffer[1];
mailboxToSend[buffer[0]]=0;
break;
case MCU_SET_TEXT_MAILBOX:
if ((mailbox = getByte())&128) continue;
crc ^= mailbox;
hold = textStoreTop;
textStoreTop--;
do
{
textStoreTop++;
textStore[textStoreTop] = getByte();
crc^=textStore[textStoreTop];
}
while ((textStoreTop<1024)&&(textStore[textStoreTop]));
textStoreTop++;
if ((crc&127)!=getByte()) { textStoreTop=hold; continue; }
textValue[mailbox] = &textStore[hold];
mailboxToSend[mailbox]=0;
break;
//stream values to mailbox
case MCU_GET_NUMBER_MAILBOX:
mailbox = getByte();
if (((crc^mailbox)&127)!=getByte()) continue;
mailboxToSend[mailbox]=MCU_GET_NUMBER_MAILBOX;
break;
case MCU_GET_LOGIC_MAILBOX:
mailbox = getByte();
if (((crc^mailbox)&127)!=getByte()) continue;
mailboxToSend[mailbox]=MCU_GET_LOGIC_MAILBOX;
break;
case MCU_GET_TEXT_MAILBOX:
mailbox = getByte();
if (((crc^mailbox)&127)!=getByte()) continue;
mailboxToSend[mailbox]=MCU_GET_TEXT_MAILBOX;
break;
case MCU_END_FRAME:
processMailboxes();
// note that Text values are lost after being processed as we
// will reuse the buffer for the next frame
textStoreTop=0;
break;
}
}
int i,j;
unsigned long lvalue;
unsigned char *tvalue;
unsigned char crc;
for (i=0;i<20;i++)
{
if (mailboxToSend[i]&&mailboxSendFlag[i])
{
switch (mailboxToSend[i])
{
case MCU_GET_NUMBER_MAILBOX:
lvalue = intValue[i];
buffer[0]=MCU_GET_NUMBER_MAILBOX|128;
buffer[1]=i;
buffer[2]=lvalue&127;
buffer[3]=(lvalue>>7)&127;
buffer[4]=(lvalue>>14)&127;
buffer[5]=(lvalue>>21)&127;
buffer[6]=(lvalue>>28)&127;
buffer[7]=(buffer[0]^buffer[1]^buffer[2]^buffer[3]^buffer[4]^buffer[5]^buffer[6])&127;
Serial.write(buffer, 8);
break;
case MCU_GET_LOGIC_MAILBOX:
buffer[0]=MCU_GET_LOGIC_MAILBOX|128;
buffer[1]=i;
buffer[2]=logicValue[i]&127;
buffer[3]=(buffer[0]^buffer[1]^buffer[2])&127;
Serial.write(buffer, 4);
break;
case MCU_GET_TEXT_MAILBOX:
tvalue = textValue[i];
buffer[0]=MCU_GET_TEXT_MAILBOX|128;
buffer[1]=i;
crc = buffer[0]^buffer[1];
j=0;
while ((tvalue[j]!=0)&&(j<254))
{
tvalue[j] &= 127;
crc ^= tvalue[j];
j++;
}
j++;
buffer[2] = crc&127;
Serial.write(buffer, 2);
Serial.write(tvalue, j);
Serial.write(&buffer[2], 1);
break;
}
mailboxSendFlag[i]=0;
}
}
}
/* PWM CONTROL,
using pin 4,5,6,7
*/
//Standard PWM DC control
int E1 = 5; //M1 Speed Control
int E2 = 6; //M2 Speed Control
int M1 = 4; //M1 Direction Control
int M2 = 7; //M1 Direction Control
///For previous Romeo, please use these pins.
//int E1 = 6; //M1 Speed Control
//int E2 = 9; //M2 Speed Control
//int M1 = 7; //M1 Direction Control
//int M2 = 8; //M1 Direction Control
void stop(void) //Stop
{
analogWrite(E1,0); //?
digitalWrite(E1,LOW);
analogWrite(E1,0); //?
digitalWrite(E2,LOW);
}
void advance(char a,char b) //Move forward
{
analogWrite(E1,a); //PWM Speed Control
digitalWrite(M1,HIGH);
analogWrite(E2,b);
digitalWrite(M2,HIGH);
}
void back_off(char a,char b) //Move backward
{
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
digitalWrite(M2,LOW);
}
void turn_L(char a,char b) //Turn Left
{
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
digitalWrite(M2,HIGH);
}
void turn_R(char a,char b) //Turn Right
{
analogWrite (E1,a);
digitalWrite(M1,HIGH);
analogWrite (E2,b);
digitalWrite(M2,LOW);
}
void driveMotors(int speed1, int speed2)
{
if(speed1<0)
{
speed1=-speed1;
M1=LOW;
}
else
{
M1=HIGH;
}
if(speed2<0)
{
speed2=-speed2;
M2=LOW;
}
else
{
M2=HIGH;
}
analogWrite (E1,speed1);
digitalWrite(M1,HIGH);
analogWrite (E2,speed2);
digitalWrite(M2,LOW);
}
// called after mailboxes from the PC have been sent ... this is where your code will go!
void processMailboxes()
{
//controlling drive motors
driveMotors(intValue[0],intValue[1]);
//controlling servo
int pos = 180/200*(intValue[2]+100);
myservo.write(pos);
//controlling sound card
// sendCommand(0x0000);
//delay(200);
switch(intValue[3])
{
case 100: // play "0000.ad4"
sendCommand(0x0000); //delay(3000);
break;
case 101 : // play "0001.ad4"
sendCommand(0x0001);//delay(200);
break;
case 102 : // play "0001.ad4"
sendCommand(STOP);//delay(200);
break;
case 103 : // play "0001.ad4"
sendCommand(PLAY_PAUSE);//delay(200);
break;
default : break;
}
/*
char val=0;
char speed=255;
switch(val)
{
case 'w'://Move Forward
advance (speed,speed); //move forward in max speed
break;
case 's'://Move Backward
back_off (speed,speed); //move back in max speed
break;
case 'a'://Turn Left
turn_L (speed/2,speed/2);
break;
case 'd'://Turn Right
turn_R (speed/2,speed/2);
break;
case 'z':
//Serial.println("Hello");
break;
case 'x':
stop();
break;
}
*/
/* Here are samples only
// Playing sounds
// play "0000.ad4"
sendCommand(0x0000);
delay(1000);
// play "0001.ad4"
sendCommand(0x0001);
delay(1000);
// stop playing
sendCommand(STOP);
delay(1000);
// MCU Communicator
// variables value will be in one of intValue, textValue or logicValue
// arrays and address by the mailbox number. Note the variable name is
// NOT sent by identified by the corresponding mailbox number
// as seen in the MCU Communicator GUI
// we have set mailbox 0 to a logic value coming from RR. In this case
// we attach it to the IMAGE_COUNT variable so we flash for every few
// frames.
if (intValue[0])
digitalWrite(13, HIGH);
else
digitalWrite(13, LOW);
// To send a value back to mailbox #1 specify it as a Get in the MCU Communicator
// interface and type in a variable name that will hold that value. Indicate its type
// as Number and then use the following to send a value of IMAGE_COUNT+100 back to the PC
// into that variable. Don't forget to set the flag!
intValue[1]=intValue[0]+100;
mailboxSendFlag[1] = 1;
// To send back a string configure the MCU Communicator to a text type and use
textValue[2] = (unsigned char *)"this is a test";
mailboxSendFlag[2] = 1;
// Now we convert mailbox 3's string into an uppercase version
// of it and send it back via mailbox 4 into another string
// variable. Note this is not a very reliable uppercase conversion
// but just illustrates the point of string manipulation
static unsigned char replyStr[256];
int i;
for (i=0;textValue[3][i];i++)
{
if (textValue[3][i]!=' ')
replyStr[i]=textValue[3][i]+('A'-'a');
else
replyStr[i]=' ';
}
replyStr[i]=0;
textValue[4]=replyStr;
mailboxSendFlag[4] = 1;
// and set mailbox 5 to the length of this string
intValue[5] = i;
mailboxSendFlag[5] = 1;
// invert the logic on mailbox 6
logicValue[7] = logicValue[6]^1;
mailboxSendFlag[7] = 1;
*/
}
 program.robo
|
|
This Thread