arduino sketch: hex codes

1 files changed, 186 insertions, 2 deletions

diff --git a/arduino_sketch/rfc4824/rfc4824.ino b/arduino_sketch/rfc4824/rfc4824.ino
index f2ce79c..a0a2fd3 100644
--- a/arduino_sketch/rfc4824/rfc4824.ino
+++ b/arduino_sketch/rfc4824/rfc4824.ino
@@ -1,8 +1,14 @@
 
 #include <Stepper.h>
 
-Stepper left_arm(64,2,3,4,5);
-Stepper right_arm(64,7,8,9,10);
+#define ADJ_STP 256
+#define QRT_STP 256
+#define CHAR_DELAY 1000
+
+Stepper left_arm(64,4,5,6,7);
+Stepper right_arm(64,8,9,10,11);
+
+int c;
 
 void setup() {
     Serial.begin(9600);
@@ -11,4 +17,182 @@ void setup() {
 }
 
 void loop() {
+   read_serial_commands();
+}
+
+void adjust(char motor,int steps) {
+    Serial.print("Adjusting ");
+    switch (motor) {
+        case 'l':
+            Serial.print("left");
+            left_arm.step(steps);
+            break;
+        case 'r':
+            Serial.print("right");
+            right_arm.step(steps);
+            break;
+        }
+    Serial.print(" motor of ");
+    Serial.print(steps,DEC);
+    Serial.println(" steps");
+}
+
+void read_serial_commands() {
+    c = Serial.read();
+    switch (c) {
+        case 'o':
+            adjust('l',ADJ_STP);
+            break;
+        case 'p':
+            adjust('l',-ADJ_STP);
+            break;
+        case 'n':
+            adjust('r',ADJ_STP);
+            break;
+        case 'm':
+            adjust('r',-ADJ_STP);
+            break;
+        case '0':
+        case '1':
+        case '2':
+        case '3':
+        case '4':
+        case '5':
+        case '6':
+        case '7':
+        case '8':
+        case '9':
+            set_hex(c-'0');
+            break;
+        case 'a':
+        case 'A':
+            set_hex(0xA);
+            break;
+        case 'b':
+        case 'B':
+            set_hex(0xB);
+            break;
+        case 'c':
+        case 'C':
+            set_hex(0xC);
+            break;
+        case 'd':
+        case 'D':
+            set_hex(0xD);
+            break;
+        case 'e':
+        case 'E':
+            set_hex(0xE);
+            break;
+        case 'f':
+        case 'F':
+            set_hex(0xF);
+            break;
+    }
+}
+
+void set_hex(char digit) {
+    Serial.print("Going to position ");
+    Serial.println(digit,HEX);
+    switch (digit) {
+        case 0x0:
+            right_arm.step(QRT_STP);
+            delay(CHAR_DELAY);
+            right_arm.step(-QRT_STP);
+            break;
+        case 0x1:
+            right_arm.step(QRT_STP*2);
+            delay(CHAR_DELAY);
+            right_arm.step(-QRT_STP*2);
+            break;
+        case 0x2:
+            right_arm.step(QRT_STP*3);
+            delay(CHAR_DELAY);
+            right_arm.step(-QRT_STP*3);
+            break;
+        case 0x3:
+            right_arm.step(QRT_STP*4);
+            delay(CHAR_DELAY);
+            right_arm.step(-QRT_STP*4);
+            break;
+        case 0x4:
+            left_arm.step(-QRT_STP*3);
+            delay(CHAR_DELAY);
+            left_arm.step(QRT_STP*3);
+            break;
+        case 0x5:
+            left_arm.step(-QRT_STP*2);
+            delay(CHAR_DELAY);
+            left_arm.step(QRT_STP*2);
+            break;
+        case 0x6:
+            left_arm.step(-QRT_STP);
+            delay(CHAR_DELAY);
+            left_arm.step(QRT_STP);
+            break;
+        case 0x7:
+            right_arm.step(QRT_STP*2);
+            left_arm.step(QRT_STP);
+            delay(CHAR_DELAY);
+            right_arm.step(-QRT_STP*2);
+            left_arm.step(-QRT_STP);
+            break;
+        case 0x8:
+            right_arm.step(QRT_STP*3);
+            left_arm.step(QRT_STP);
+            delay(CHAR_DELAY);
+            right_arm.step(-QRT_STP*3);
+            left_arm.step(-QRT_STP);
+            break;
+        case 0x9:
+            right_arm.step(QRT_STP*4);
+            left_arm.step(-QRT_STP*2);
+            delay(CHAR_DELAY);
+            right_arm.step(-QRT_STP*4);
+            left_arm.step(QRT_STP*2);
+            break;
+        case 0xA:
+            right_arm.step(QRT_STP);
+            left_arm.step(-QRT_STP*4);
+            delay(CHAR_DELAY);
+            right_arm.step(-QRT_STP);
+            left_arm.step(QRT_STP*4);
+            break;
+        case 0xB:
+            right_arm.step(QRT_STP);
+            left_arm.step(-QRT_STP*3);
+            delay(CHAR_DELAY);
+            right_arm.step(-QRT_STP);
+            left_arm.step(QRT_STP*3);
+            break;
+        case 0xC:
+            right_arm.step(QRT_STP);
+            left_arm.step(-QRT_STP*2);
+            delay(CHAR_DELAY);
+            right_arm.step(-QRT_STP);
+            left_arm.step(QRT_STP*2);
+            break;
+        case 0xD:
+            right_arm.step(QRT_STP);
+            left_arm.step(-QRT_STP);
+            delay(CHAR_DELAY);
+            right_arm.step(-QRT_STP);
+            left_arm.step(QRT_STP);
+            break;
+        case 0xE:
+            right_arm.step(QRT_STP*2);
+            left_arm.step(-QRT_STP*5);
+            delay(CHAR_DELAY);
+            right_arm.step(-QRT_STP*2);
+            left_arm.step(QRT_STP*5);
+            break;
+        case 0xF:
+            right_arm.step(QRT_STP*2);
+            left_arm.step(-QRT_STP*4);
+            delay(CHAR_DELAY);
+            right_arm.step(-QRT_STP*2);
+            left_arm.step(QRT_STP*4);
+            break;
+    }
+    Serial.println("Returned to home position");
 }