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add thread
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@AtsuneMogi
AtsuneMogi committed Feb 8, 2023
1 parent 9d5aa1c commit 38d17aa
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Showing 2 changed files with 132 additions and 113 deletions.
2 changes: 2 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -3,3 +3,5 @@
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
backups

243 changes: 130 additions & 113 deletions src/main.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
#include <Arduino.h>
#include <AsyncUDP.h>
#include <thread>
#include <vector>
#include <WiFi.h>

Expand All @@ -13,7 +14,6 @@
#define sensorBL 32
#define sensorBR 33


std::vector<int> seg = {0, 21, 19, 18, 5, 4, 15, 2}; // dp, g, f, e, d, c, b, a
std::vector<std::vector<int>> numbers = {
{0, 0, 1, 1, 1, 1, 1, 1}, // 0
Expand All @@ -31,15 +31,14 @@ std::vector<std::vector<int>> numbers = {

char buf[1]; // direction command
bool brush = false; // brush flag
bool music; // music flag

int v = 150; // velocity
// super mario one up
std::vector<int> oneUp = {140, 2, 6, 84, 5, 91, 5, 100, 5, 96, 5, 98, 5, 103, 5, 141, 2};

char ssid[] = "M5StickC-Controller";
char pass[] = "controller";
AsyncUDP udp; // udp instance
AsyncUDP udp; // udp instance
unsigned int port = 8888; // local port to listen on


Expand All @@ -50,12 +49,18 @@ void displayNumber(int n) {


void displaySpeed() {
if (v == 0) displayNumber(0);
else if (v == 50) displayNumber(1);
else if (v == 100) displayNumber(2);
else if (v == 150) displayNumber(3);
else if (v == 200) displayNumber(4);
else displayNumber(5);
if (v == 0)
displayNumber(0);
else if (v == 50)
displayNumber(1);
else if (v == 100)
displayNumber(2);
else if (v == 150)
displayNumber(3);
else if (v == 200)
displayNumber(4);
else
displayNumber(5);
}

// devide integer to 8 bits
Expand Down Expand Up @@ -119,107 +124,7 @@ void send_data(std::vector<int> &arr) {
}


void yobikomi() {
std::vector<std::vector<int>> arr2 = {
{140, 1, 6, 81, 14, 81, 28, 83, 14, 81, 14, 78, 14, 81, 28, 141, 1},
{141, 1},
{140, 1, 6, 74, 14, 74, 14, 74, 14, 76, 14, 78, 42, 74, 14, 141, 1},
{140, 1, 3, 78, 42, 81, 14, 81, 56, 141, 1},
{140, 1, 5, 74, 14, 74, 14, 74, 14, 76, 14, 78, 56, 141, 1},
{141, 1},
{140, 1, 6, 76, 14, 76, 14, 76, 14, 74, 14, 76, 28, 78, 28, 141, 1},
{140, 1, 4, 81, 28, 79, 28, 78, 28, 76, 28, 141, 1},
{140, 1, 6, 81, 14, 81, 28, 83, 14, 81, 14, 78, 14, 81, 28, 141, 1},
{140, 1, 6, 81, 14, 81, 28, 83, 14, 81, 14, 78, 14, 76, 28, 141, 1},
{140, 1, 1, 74, 60, 141, 1}};
for (int i = 0; i < arr2.size(); i++) {
std::vector<int> arr1 = arr2[i];
send_data(arr1);
delay(1800);
}
}


void roomba_setup() {
Serial1.begin(115200, SERIAL_8N1, 3, 1); // roomba, tx: 1, rx: 3
Serial1.write(128);
delay(50);
Serial1.write(132);
delay(50);
send_data(oneUp);
}


void roomba_end() {
Serial1.write(128);
Serial1.write(132);
Serial1.write(128);
Serial1.write(173);
Serial1.end();
}


void setup() {
pinMode(btnUp, INPUT_PULLUP);
pinMode(btnDown, INPUT_PULLUP);
pinMode(sensorF, INPUT);
pinMode(sensorB, INPUT);
pinMode(sensorFL, INPUT);
pinMode(sensorFR, INPUT);
pinMode(sensorBL, INPUT);
pinMode(sensorBR, INPUT);
for (int i = 0; i < 8; i++) pinMode(seg[i], OUTPUT);

Serial.begin(115200);

WiFi.mode(WIFI_STA);
WiFi.begin(ssid, pass);
delay(100);

Serial.print("Connecting...");

while (WiFi.waitForConnectResult() != WL_CONNECTED) {
Serial.print(".");
for (int i = 0; i < 11; i++) {
displayNumber(i);
delay(100);
}
}
Serial.println("");

roomba_setup();

if (udp.listen(port)) {
udp.onPacket([](AsyncUDPPacket packet) {
buf[0] = (char)*(packet.data());
});
}
}


void loop() {
if (!digitalRead(btnDown) && 0 < v) { // min: 0
if (!digitalRead(btnUp)) {
roomba_end();
}
stop();
v -= 50;
music = false;
delay(1000);
} else if (!digitalRead(btnUp) && v < 250) { // max: 250
if (!digitalRead(btnDown)) {
roomba_end();
}
stop();
v += 50;
music = false;
delay(1000);
} else if (v == 0 && music == false) {
delay(100);
yobikomi();
music = true;
}

void readBuf() {
switch (buf[0]) {
case 'a':
if (!digitalRead(sensorF) + !digitalRead(sensorFL) + !digitalRead(sensorFR)) {
Expand Down Expand Up @@ -318,9 +223,6 @@ void loop() {
case 'H':
roomba_drive_turn_clockwise(2 * v); // turn clockwise
break;
case 'I':
send_data(oneUp);
break;
case 'J':
if (!brush) {
Serial1.write(138);
Expand All @@ -341,8 +243,122 @@ void loop() {
stop();
break;
}
}


void yobikomi1() {
std::vector<std::vector<int>> arr2 = {
{140, 1, 6, 81, 14, 81, 28, 83, 14, 81, 14, 78, 14, 81, 28, 141, 1},
{141, 1},
{140, 1, 6, 74, 14, 74, 14, 74, 14, 76, 14, 78, 42, 74, 14, 141, 1},
{140, 1, 3, 78, 42, 81, 14, 81, 56, 141, 1},
{140, 1, 5, 74, 14, 74, 14, 74, 14, 76, 14, 78, 56, 141, 1},
{141, 1},
{140, 1, 6, 76, 14, 76, 14, 76, 14, 74, 14, 76, 28, 78, 28, 141, 1},
{140, 1, 4, 81, 28, 79, 28, 78, 28, 76, 28, 141, 1},
{140, 1, 6, 81, 14, 81, 28, 83, 14, 81, 14, 78, 14, 81, 28, 141, 1},
{140, 1, 6, 81, 14, 81, 28, 83, 14, 81, 14, 78, 14, 76, 28, 141, 1},
{140, 1, 1, 74, 60, 141, 1}
};
for (int i = 0; i < arr2.size(); i++) {
std::vector<int> arr1 = arr2[i];
send_data(arr1);
delay(1800);
}
}


void yobikomi2() {
for (int i = 0; i < 100; i++) {
readBuf();
delay(100);
}
}


void roomba_setup() {
Serial1.begin(115200, SERIAL_8N1, 3, 1); // roomba, rx: 3, tx: 1
Serial1.write(128);
delay(50);
Serial1.write(132);
delay(50);
send_data(oneUp);
}


void roomba_end() {
Serial1.write(128);
Serial1.write(132);
Serial1.write(128);
Serial1.write(173);
Serial1.end();
}


void setup() {
pinMode(btnUp, INPUT_PULLUP);
pinMode(btnDown, INPUT_PULLUP);
pinMode(sensorF, INPUT);
pinMode(sensorB, INPUT);
pinMode(sensorFL, INPUT);
pinMode(sensorFR, INPUT);
pinMode(sensorBL, INPUT);
pinMode(sensorBR, INPUT);
for (int i = 0; i < 8; i++) pinMode(seg[i], OUTPUT);

Serial.begin(115200);

WiFi.mode(WIFI_STA);
WiFi.begin(ssid, pass);
delay(100);

Serial.print("Connecting...");

while (WiFi.waitForConnectResult() != WL_CONNECTED) {
Serial.print(".");
for (int i = 0; i < 11; i++) {
displayNumber(i);
delay(100);
}
}
Serial.println("");

roomba_setup();

if (udp.listen(port)) {
udp.onPacket([](AsyncUDPPacket packet) {
buf[0] = (char)*(packet.data());
});
}
}


void loop() {
if (!digitalRead(btnDown) && 0 < v) { // min: 0
if (!digitalRead(btnUp)) {
roomba_end();
}
stop();
v -= 50;
delay(1000);
} else if (!digitalRead(btnUp) && v < 250) { // max: 250
if (!digitalRead(btnDown)) {
roomba_end();
}
stop();
v += 50;
delay(1000);
}
displaySpeed();

readBuf();
if (buf[0] == 'I') {
std::thread t1(yobikomi1);
std::thread t2(yobikomi2);
t1.join();
t2.join();
}

if (WiFi.status() != WL_CONNECTED) {
roomba_end();
while (WiFi.waitForConnectResult() != WL_CONNECTED) {
Expand All @@ -357,3 +373,4 @@ void loop() {
}
delay(100);
}

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