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Yunpubsub.ino
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Yunpubsub.ino
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/*
* REPL Arduino Propulsion sketch - 3/7/2017
* Chris Burn @Forecast_Cloudy
*
*/
#include <SPI.h>
#include <BridgeClient.h>
#include <PubSubClient.h>
#include <ArduinoJson.h>
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_MS_PWMServoDriver.h"
// Network Values
byte mac[] = { 0x90, 0xA2, 0xDA, 0xF7, 0x0A, 0xEC };
IPAddress ip(192, 168, 1, 123);
IPAddress server(107, 22, 10, 157);
BridgeClient ethClient;
PubSubClient client(ethClient);
//Motor Values
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
//Adafruit_DCMotor *leftWheel = AFMS.getMotor(1); //1 = M1
//Adafruit_DCMotor *rightWheel = AFMS.getMotor(2); //2 = M2
//Adafruit_DCMotor *leftTread = AFMS.getMotor(3); //3 = M3
//Adafruit_DCMotor *rightTread = AFMS.getMotor(4); //4 = M4
void callback(char* topic, byte* payload, unsigned int length) {
// Memory pool for JSON object tree.
String jsonStr;
StaticJsonBuffer<200> jsonBuffer;
Serial.print("REPL instruction set arrived [");
Serial.print(topic);
Serial.println("] ");
for (int i=0;i<length;i++) {
Serial.print((char)payload[i]);
jsonStr += (char)payload[i];
}
Serial.println();
char json[length + 1];
jsonStr.toCharArray(json,sizeof(json));
JsonObject& root = jsonBuffer.parseObject(json);
if (!root.success()) {
Serial.println("parseObject() failed");
}
//const char* type = root["type"];
String type = root["type"];
//const char* side = root["side"];
String side = root["side"];
//const char* dir = root["direction"];
String dir = root["direction"];
double speed = root["speed"];
double duration = root["duration"];
propel(type,side,dir,speed,duration);
}
void propel(String type, String side, String dir, double speed, double duration) {
type.trim();
side.trim();
dir.trim();
uint8_t i; //0-255 for speed.
boolean tankMode = false;
int motorNum;
Adafruit_DCMotor *driveMotor;
Adafruit_DCMotor *tankMotor;
//Which drive?
if(type == "tread")
{
Serial.println("Tread(s) selected");
if(side == "right")
{
driveMotor = AFMS.getMotor(4);
motorNum = 4;
}
else if(side == "left")
{
driveMotor = AFMS.getMotor(3);
motorNum = 3;
}
else //tankMode
{
driveMotor = AFMS.getMotor(4);
tankMotor = AFMS.getMotor(3);
motorNum = 43;
tankMode = true;
}
}
else if(type == "wheel")
{
Serial.println("Wheel(s) selected");
if(side == "right")
{
driveMotor = AFMS.getMotor(2);
motorNum = 2;
}
else if(side == "left")
{
driveMotor = AFMS.getMotor(1);
motorNum = 1;
}
else //tankMode
{
driveMotor = AFMS.getMotor(2);
tankMotor = AFMS.getMotor(1);
motorNum = 21;
tankMode = true;
}
}
Serial.println(motorNum);
int motorSpeed = 0;
AFMS.begin();
//How Fast (.25, .5, 1.0) (quarter, half, full)
//Set the speed to start, from 0 (off) to 255 (max speed)
if(speed == 0.25)
{
motorSpeed = 75;
}
else if(speed == 0.50)
{
motorSpeed = 150;
}
else
{
motorSpeed = 255;
}
//intialize the motor
driveMotor->setSpeed(motorSpeed);
driveMotor->run(FORWARD);
driveMotor->run(RELEASE);
if(tankMode = true)
{
tankMotor->setSpeed(motorSpeed);
tankMotor->run(FORWARD);
tankMotor->run(RELEASE);
}
if(tankMode = true)
{
driveMotor->run(FORWARD);
tankMotor->run(FORWARD);
for (i=0; i <= duration; i++) {
driveMotor->setSpeed(motorSpeed);
tankMotor->setSpeed(motorSpeed);
delay(duration * 1000/duration);
}
//Reduce Speed
for (i=255; i!=0; i--) {
driveMotor->setSpeed(i);
tankMotor->setSpeed(i);
delay(10);
}
}
else
{
driveMotor->run(FORWARD);
for (i=0; i <= duration; i++) {
driveMotor->setSpeed(motorSpeed);
delay(duration * 1000/duration);
}
//Reduce Speed
for (i=255; i!=0; i--) {
driveMotor->setSpeed(i);
delay(10);
}
}
}
void reconnect() {
// Loop until we're reconnected
while (!client.connected()) {
Serial.print("Attempting MQTT connection...");
// Attempt to connect
if (client.connect("arduinoClient")) {
Serial.println("connected");
// Once connected, publish an announcement...
client.publish("outTopic","hello world");
// ... and resubscribe
Serial.println("Subscribing to REPL topic");
client.subscribe("REPL");
} else {
Serial.print("failed, rc=");
Serial.print(client.state());
Serial.println(" try again in 5 seconds");
// Wait 5 seconds before retrying
delay(5000);
}
}
}
void setup()
{
//Start the Serial monitor
Serial.begin(57600);
Bridge.begin();
//Start Mosquitto
client.setServer(server, 1883);
client.setCallback(callback);
// Allow the hardware to sort itself out
delay(1500);
}
void loop()
{
if (!client.connected()) {
reconnect();
}
client.loop();
}