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#include <Stepper.h>
#include <PS2Keyboard.h>
#define ADJ_STP 32
#define ADJ_SPEED 128
#define QRT_STP -256
#define QRT_SPEED 128
#define CHAR_DELAY 1000
Stepper left_arm(64,4,5,6,7);
Stepper right_arm(64,8,9,10,11);
PS2Keyboard keyboard;
#define KBD_DATA 2
#define KBD_CLOCK 3
int pos[16][2] = { {1,0}, {2,0}, {3,0}, {4,0},
{0,3}, {0,2}, {0,1}, {2,-1},
{3,-1}, {4,2}, {1,4}, {1,3},
{1,2}, {1,1}, {2,5}, {2,4} };
void setup() {
Serial.begin(9600);
keyboard.begin(KBD_DATA,KBD_CLOCK);
left_arm.setSpeed(QRT_SPEED);
right_arm.setSpeed(QRT_SPEED);
}
void loop() {
if (Serial.available()) {
read_commands(Serial.read());
}
if (keyboard.available()) {
read_commands(keyboard.read());
}
}
void adjust(char motor,int steps) {
Serial.print("Adjusting ");
switch (motor) {
case 'l':
left_arm.setSpeed(ADJ_SPEED);
Serial.print("left");
left_arm.step(steps);
left_arm.setSpeed(QRT_SPEED);
break;
case 'r':
right_arm.setSpeed(ADJ_SPEED);
Serial.print("right");
right_arm.step(steps);
right_arm.setSpeed(QRT_SPEED);
break;
}
Serial.print(" motor of ");
Serial.print(steps,DEC);
Serial.println(" steps");
}
void read_commands(int c) {
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);
right_arm.step(QRT_STP*pos[digit][0]);
left_arm.step(-1*QRT_STP*pos[digit][1]);
delay(CHAR_DELAY);
left_arm.step(QRT_STP*pos[digit][1]);
right_arm.step(-1*QRT_STP*pos[digit][0]);
delay(CHAR_DELAY);
Serial.println("Returned to home position");
}
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