Eyebeam Project | Site / December1-XbeeCode

 Xbee code for Master Elmo:

//soyoung Dec 1st 2008 //Xbee sending switch int switchPin = 2; int previousState=0; int nowState=0; int stateChange=0; int ledPin=13; //to double check that code is good

void setup() {

  pinMode(switchPin, INPUT);
  pinMode(ledPin, OUTPUT);
  Serial.begin(9600);

}

void loop(){

state();

  if (stateChange == 1 && nowState == 1){
    Serial.println('H');
    digitalWrite(ledPin,HIGH);
    previousState=nowState;
    state();
  }
  else if (stateChange == 1 && nowState == 0){
    Serial.println('L');
    digitalWrite(ledPin,LOW);
    previousState=nowState;
    state();
  }

}

void state(){

  nowState=digitalRead(switchPin);
  if (nowState != previousState){
    stateChange=1;
  }
  else {
    stateChange=0;
  }

}

Xbee code for Elmos / Receiving:

 getting signal from master Xbee. moves step by step.
 AUTHOR: mike  & soyoung
 DATE: Dec 1st 2008
 PURPOSE:
 1. Flash an LED three times when this code is loaded onto the arduino.
 2. Perform one movement from a routine, each time a button is pushed.
 */

//Verificatin Pin: int ledPin = 13; //int switchPin = 12; int val = 0; //Motor Output Pins: int armPwmPin = 10; // L293 pin 1 int armMtrPosPin = 2; // L293 pin 2 int armMtrNegPin = 3; // L293 pin 7

int legPwmPin = 11; // L293 pin 9 int legMtrPosPin = 4; // L293 pin 15 int legMtrNegPin = 5; // L293 pin 10

//Connections to drive motors: // L293 pin 3 - Arm Motor + (green wire) // L293 pin 6 - Arm Motor - (white wire) // L293 pin 14 - Leg Motor + (yellow wire) // L293 pin 11 - Leg Motor - (brown wire)

//Motor Feedback Pins: int armSensorBrown = 6; //red wire -20 180+ int armSensorRed = 7; //white wire 0 90~180 int armSensorYellow = 8; //yellow wire 90 90 int armSensorGreen = 9; //grey wire 150 0

int legSensorBlue = 14; //blue wire 135 int legSensorGreen = 15; //green wire 90 int legSensorYellow = 16; //yellow wire 30 int legSensorOrange = 17; //orange wire 0 int legSensorRed = 18; //red wire -30

//Variables: int forward=1; int reverse=0; int stepNumber=0; //keep track of which movement to do next

//For debouncing: int currentStep;

void setup() {

  Serial.begin(9600);
  //Verificatin Pin:
  pinMode(ledPin, OUTPUT); //Set pin 13 as an output
  // pinMode(switchPin, INPUT);
  //Motor Output Pins:
  pinMode(armPwmPin, OUTPUT); //Set pin 3 as an output
  pinMode(armMtrPosPin, OUTPUT); //Set pin 2 as an output
  pinMode(armMtrNegPin, OUTPUT); //Set pin 4 as an output
  digitalWrite(armPwmPin, LOW); //Disable motor on startup
  digitalWrite(armMtrPosPin, HIGH); //Prepare for clockwise motor rotation
  digitalWrite(armMtrNegPin, LOW); //Prepare for clockwise motor rotation

  pinMode(legPwmPin, OUTPUT); //Set pin 3 as an output
  pinMode(legMtrPosPin, OUTPUT); //Set pin 2 as an output
  pinMode(legMtrNegPin, OUTPUT); //Set pin 4 as an output
  digitalWrite(legPwmPin, LOW); //Disable motor on startup
  digitalWrite(legMtrPosPin, HIGH); //Prepare for clockwise motor rotation
  digitalWrite(legMtrNegPin, LOW); //Prepare for clockwise motor rotation

  //Motor Feedback Pins: for arm
  pinMode(armSensorRed, INPUT); //Set pin 7 as an input
  digitalWrite(armSensorRed, HIGH); //Enable internal pull-up resistor
  pinMode(armSensorBrown, INPUT);  //Set pin 8 as an input
  digitalWrite(armSensorBrown, HIGH);  //Enable internal pull-up resistor
  pinMode(armSensorYellow, INPUT);  //Set pin 9 as an input
  digitalWrite(armSensorYellow, HIGH);  //Enable internal pull-up resistor
  pinMode(armSensorGreen, INPUT);  //Set pin 10 as an input
  digitalWrite(armSensorGreen, HIGH);  //Enable internal pull-up resistor
  //Motor Feedback Pins: for legs
  pinMode(legSensorBlue, INPUT); //Set pin 7 as an input
  digitalWrite(legSensorBlue, HIGH); //Enable internal pull-up resistor
  pinMode(legSensorGreen, INPUT);  //Set pin 8 as an input
  digitalWrite(legSensorGreen, HIGH);  //Enable internal pull-up resistor
  pinMode(legSensorYellow, INPUT);  //Set pin 9 as an input
  digitalWrite(legSensorYellow, HIGH);  //Enable internal pull-up resistor
  pinMode(legSensorOrange, INPUT);  //Set pin 10 as an input
  digitalWrite(legSensorOrange, HIGH);  //Enable internal pull-up resistor
  pinMode(legSensorRed, INPUT);  //Set pin 10 as an input
  digitalWrite(legSensorRed, HIGH);  //Enable internal pull-up resistor

  blink(ledPin,3,100);    //Call the blink routine, three quick blinks to show the code is loaded
  Serial.print("Step: ");
  Serial.println(stepNumber);

  //Variable to test if button was really pressed

}

void loop() {

  //Wait for the button to be pressed. Then execute
  // the current stepNumber, and increment the stepNumber.
  currentStep = stepNumber;
  while (currentStep == stepNumber) {
    stepNumber=waitForButton(stepNumber);
  }

  Serial.print("...doing stepNumber ");
  Serial.println(stepNumber);
  doNextStep(stepNumber);

  //    
  //    moveArm(armSensorGreen, forward, 100);

}

int waitForButton(int whichStep) {

  if (Serial.available()) {
    val = Serial.read();
    //val = digitalRead(switchPin);
  //  while(val == 'L'){
    //   val = Serial.read();


  //  val = digitalRead(switchPin);
    if(val == 'H') {
 //     return whichStep;

    whichStep = whichStep+1;
    Serial.print("Step: ");
    Serial.println(whichStep);}

  //  return whichStep;
  }
  return whichStep;

} void doNextStep(int whichStep) {

  switch(whichStep) {
  case 1:
    moveArm(armSensorRed, reverse, 150);
    break;
  case 2:
    moveArm(armSensorGreen, forward, 150);
    break;
  case 3:
    moveArm(armSensorRed, reverse, 150);
    break;
  case 4:
    moveArm(armSensorGreen, forward, 150);
    break;
  case 5:
    moveArm(armSensorYellow, reverse, 150);      
    break;
  case 6:
    moveLeg(legSensorGreen,forward, 200);
    break;
  case 7:
    stepNumber = 0;
    moveLeg(legSensorOrange, reverse, 200);
    break;
  }

}

void blink(int whatPin, int howManyTimes, int milliSecs) {

  int i=0;
  for(i=0;i<howManyTimes;i++) {
    digitalWrite(whatPin, HIGH);
    delay(milliSecs/2);
    digitalWrite(whatPin, LOW);
    delay(milliSecs/2);
  }

} void moveArm(int armSensorColor, int whichWay, int howFast) {

  //MOVE MOTOR IN DIRECTION OF "whichWay" (EITHER FORWARD OR REVERSE)
  int positivePin = whichWay;
  int negativePin = ~whichWay & 1;
  digitalWrite(armMtrPosPin, positivePin); 
  digitalWrite(armMtrNegPin, negativePin);
  analogWrite(armPwmPin,howFast); // Turn motor on at speed "howFast"
  //WATCH FOR WHEN THE MOTOR REACHES THE NEXT TARGET SENSOR
  int sensor = 1;
  while(sensor==HIGH) {
    sensor = digitalRead(armSensorColor);
  }
  //AND WHEN ELMO'S ARM REACHES TARGET SENSOR, STOP:
  analogWrite(armPwmPin,0);

}

void moveLeg(int legSensorColor, int whichWay, int howFast) {

  //MOVE MOTOR IN DIRECTION OF "whichWay" (EITHER FORWARD OR REVERSE)
  int positivePin = whichWay;
  int negativePin = ~whichWay & 1;
  digitalWrite(legMtrPosPin, positivePin); 
  digitalWrite(legMtrNegPin, negativePin);
  analogWrite(legPwmPin,howFast); // Turn motor on at speed "howFast"
  //WATCH FOR WHEN THE MOTOR REACHES THE NEXT TARGET SENSOR
  int sensor = 1;
  while(sensor==1) {
    sensor = digitalRead(legSensorColor);
  }
  //AND WHEN ELMO'S ARM REACHES TARGET SENSOR, STOP:
  analogWrite(legPwmPin,0);

}

December 2nd, 2008

I'm pasting almost the exact same code below -- just a few small changes. In ElmoSlave, I got rid of the serial transmission stuff for error checking, the ledPin and blink function, and changed the waitForButton function in ElmoSlave to look for a 'L' instead of a 'H'. In ElmoMaster, I enabled the internal pull-up resistor so that switchPin is normally high, and pressing the switch connects switchPin to ground.

I tested this code with our pcb and everything works!

ElmoSlave:

/*
 getting signal from master Xbee. moves step by step.
 AUTHOR: mike  & soyoung
 DATE: Dec 2nd 2008
 PURPOSE:
 1. Perform one movement from a routine, each time a remote (wireless) button is pushed.
 */
int val = 0;
//Motor Output Pins:
int armPwmPin = 10; // L293 pin 1
int armMtrPosPin = 2; // L293 pin 2
int armMtrNegPin = 3; // L293 pin 7
int legPwmPin = 11; // L293 pin 9
int legMtrPosPin = 4; // L293 pin 15
int legMtrNegPin = 5; // L293 pin 10
//Connections to drive motors:
// L293 pin 3 - Arm Motor + (green wire)
// L293 pin 6 - Arm Motor - (white wire)
// L293 pin 14 - Leg Motor + (yellow wire)
// L293 pin 11 - Leg Motor - (brown wire)

//Motor Feedback Pins:
int armSensorBrown = 6; //red wire -20 180+
int armSensorRed = 7; //white wire 0 90~180
int armSensorYellow = 8; //yellow wire 90 90
int armSensorGreen = 9; //grey wire 150 0
int legSensorBlue = 14; //blue wire 135
int legSensorGreen = 15; //green wire 90
int legSensorYellow = 16; //yellow wire 30
int legSensorOrange = 17; //orange wire 0
int legSensorRed = 18; //red wire -30

//Gyroscope Feedback Pins:
int gyroGreen = 13; // supine
int gyroYellow = 19; // upright
int gyroRed = 12; // prone
//brown is ground, and orange is not connected

//Variables:
int forward=1;
int reverse=0;
int stepNumber=0; //keep track of which movement to do next

//For debouncing:
int currentStep;

void setup() {
  Serial.begin(9600);
  //Motor Output Pins:
  pinMode(armPwmPin, OUTPUT); //Set pin 3 as an output
  pinMode(armMtrPosPin, OUTPUT); //Set pin 2 as an output
  pinMode(armMtrNegPin, OUTPUT); //Set pin 4 as an output
  digitalWrite(armPwmPin, LOW); //Disable motor on startup
  digitalWrite(armMtrPosPin, HIGH); //Prepare for clockwise motor rotation
  digitalWrite(armMtrNegPin, LOW); //Prepare for clockwise motor rotation

  pinMode(legPwmPin, OUTPUT); //Set pin 3 as an output
  pinMode(legMtrPosPin, OUTPUT); //Set pin 2 as an output
  pinMode(legMtrNegPin, OUTPUT); //Set pin 4 as an output
  digitalWrite(legPwmPin, LOW); //Disable motor on startup
  digitalWrite(legMtrPosPin, HIGH); //Prepare for clockwise motor rotation
  digitalWrite(legMtrNegPin, LOW); //Prepare for clockwise motor rotation

  //Motor Feedback Pins: for arm
  pinMode(armSensorRed, INPUT); //Set pin 7 as an input
  digitalWrite(armSensorRed, HIGH); //Enable internal pull-up resistor
  pinMode(armSensorBrown, INPUT);  //Set pin 8 as an input
  digitalWrite(armSensorBrown, HIGH);  //Enable internal pull-up resistor
  pinMode(armSensorYellow, INPUT);  //Set pin 9 as an input
  digitalWrite(armSensorYellow, HIGH);  //Enable internal pull-up resistor
  pinMode(armSensorGreen, INPUT);  //Set pin 10 as an input
  digitalWrite(armSensorGreen, HIGH);  //Enable internal pull-up resistor
  //Motor Feedback Pins: for legs
  pinMode(legSensorBlue, INPUT); //Set pin 7 as an input
  digitalWrite(legSensorBlue, HIGH); //Enable internal pull-up resistor
  pinMode(legSensorGreen, INPUT);  //Set pin 8 as an input
  digitalWrite(legSensorGreen, HIGH);  //Enable internal pull-up resistor
  pinMode(legSensorYellow, INPUT);  //Set pin 9 as an input
  digitalWrite(legSensorYellow, HIGH);  //Enable internal pull-up resistor
  pinMode(legSensorOrange, INPUT);  //Set pin 10 as an input
  digitalWrite(legSensorOrange, HIGH);  //Enable internal pull-up resistor
  pinMode(legSensorRed, INPUT);  //Set pin 10 as an input
  digitalWrite(legSensorRed, HIGH);  //Enable internal pull-up resistor

//  Serial.print("Step: ");
//  Serial.println(stepNumber);

}
void loop() {
  //Wait for the button to be pressed. Then execute
  // the current stepNumber, and increment the stepNumber.
  currentStep = stepNumber;
  while (currentStep == stepNumber) {
    stepNumber=waitForButton(stepNumber);
  }

//  Serial.print("...doing stepNumber ");
//  Serial.println(stepNumber);
  doNextStep(stepNumber);

  //    
  //    moveArm(armSensorGreen, forward, 100);
}
int waitForButton(int whichStep) {
  if (Serial.available()) {
    val = Serial.read();
    //val = digitalRead(switchPin);
  //  while(val == 'L'){
    //   val = Serial.read();


  //  val = digitalRead(switchPin);
    if(val == 'L') {
 //     return whichStep;

    whichStep = whichStep+1;
//    Serial.print("Step: ");
//    Serial.println(whichStep);
      }

  //  return whichStep;
  }
  return whichStep;
}
void doNextStep(int whichStep) {
  switch(whichStep) {
  case 1:
    moveArm(armSensorRed, reverse, 150);
    break;
  case 2:
    moveArm(armSensorGreen, forward, 150);
    break;
  case 3:
    moveArm(armSensorRed, reverse, 150);
    break;
  case 4:
    moveArm(armSensorGreen, forward, 150);
    break;
  case 5:
    moveArm(armSensorYellow, reverse, 150);      
    break;
  case 6:
    moveLeg(legSensorGreen,forward, 200);
    break;
  case 7:
    stepNumber = 0;
    moveLeg(legSensorOrange, reverse, 200);
    break;
  }
}
void blink(int whatPin, int howManyTimes, int milliSecs) {
  int i=0;
  for(i=0;i<howManyTimes;i++) {
    digitalWrite(whatPin, HIGH);
    delay(milliSecs/2);
    digitalWrite(whatPin, LOW);
    delay(milliSecs/2);
  }
}
void moveArm(int armSensorColor, int whichWay, int howFast) {
  //MOVE MOTOR IN DIRECTION OF "whichWay" (EITHER FORWARD OR REVERSE)
  int positivePin = whichWay;
  int negativePin = ~whichWay & 1;
  digitalWrite(armMtrPosPin, positivePin); 
  digitalWrite(armMtrNegPin, negativePin);
  analogWrite(armPwmPin,howFast); // Turn motor on at speed "howFast"
  //WATCH FOR WHEN THE MOTOR REACHES THE NEXT TARGET SENSOR
  int sensor = 1;
  while(sensor==HIGH) {
    sensor = digitalRead(armSensorColor);
  }
  //AND WHEN ELMO'S ARM REACHES TARGET SENSOR, STOP:
  analogWrite(armPwmPin,0);
}
void moveLeg(int legSensorColor, int whichWay, int howFast) {
  //MOVE MOTOR IN DIRECTION OF "whichWay" (EITHER FORWARD OR REVERSE)
  int positivePin = whichWay;
  int negativePin = ~whichWay & 1;
  digitalWrite(legMtrPosPin, positivePin); 
  digitalWrite(legMtrNegPin, negativePin);
  analogWrite(legPwmPin,howFast); // Turn motor on at speed "howFast"
  //WATCH FOR WHEN THE MOTOR REACHES THE NEXT TARGET SENSOR
  int sensor = 1;
  while(sensor==1) {
    sensor = digitalRead(legSensorColor);
  }
  //AND WHEN ELMO'S ARM REACHES TARGET SENSOR, STOP:
  analogWrite(legPwmPin,0);
}

And here's the ElmoMaster code:

//soyoung Dec 1st 2008
//Xbee sending switch
int switchPin = 2;
int previousState=0;
int nowState=0;
int stateChange=0;
int ledPin=13; //to double check that code is good

void setup() {
  pinMode(switchPin, INPUT);
  digitalWrite(switchPin, HIGH); //enable internal pull-up resistor
  pinMode(ledPin, OUTPUT);
  Serial.begin(9600);
}
void loop(){
state();
  if (stateChange == 1 && nowState == 1){
    Serial.println('H');
    digitalWrite(ledPin,HIGH);
    previousState=nowState;
    state();
  }
  else if (stateChange == 1 && nowState == 0){
    Serial.println('L');
    digitalWrite(ledPin,LOW);
    previousState=nowState;
    state();
  }
}
void state(){
  nowState=digitalRead(switchPin);
  if (nowState != previousState){
    stateChange=1;
  }
  else {
    stateChange=0;
  }
}