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楼主 |
发表于 2013-11-11 20:06
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再把demokit的源代码给贴出来
#include <Wire.h>
#include <Servo.h>
#include <Max3421e.h>
#include <Usb.h>
#include <AndroidAccessory.h>
#include <CapSense.h>
#define LED3_RED 2
#define LED3_GREEN 4
#define LED3_BLUE 3
#define LED2_RED 5
#define LED2_GREEN 7
#define LED2_BLUE 6
#define LED1_RED 8
#define LED1_GREEN 10
#define LED1_BLUE 9
#define SERVO1 11
#define SERVO2 12
#define SERVO3 13
#define TOUCH_RECV 14
#define TOUCH_SEND 15
#define RELAY1 A0
#define RELAY2 A1
#define LIGHT_SENSOR A2
#define TEMP_SENSOR A3
#define BUTTON1 A6
#define BUTTON2 A7
#define BUTTON3 A8
#define JOY_SWITCH A9 // pulls line down when pressed
#define JOY_nINT A10 // active low interrupt input
#define JOY_nRESET A11 // active low reset output
AndroidAccessory acc("Google, Inc.",
"DemoKit",
"DemoKit Arduino Board",
"1.0",
"http://www.android.com",
"0000000012345678");
Servo servos[3];
// 10M ohm resistor on demo shield
CapSense touch_robot = CapSense(TOUCH_SEND, TOUCH_RECV);
void setup();
void loop();
void init_buttons()
{
pinMode(BUTTON1, INPUT);
pinMode(BUTTON2, INPUT);
pinMode(BUTTON3, INPUT);
pinMode(JOY_SWITCH, INPUT);
// enable the internal pullups
digitalWrite(BUTTON1, HIGH);
digitalWrite(BUTTON2, HIGH);
digitalWrite(BUTTON3, HIGH);
digitalWrite(JOY_SWITCH, HIGH);
}
void init_relays()
{
pinMode(RELAY1, OUTPUT);
pinMode(RELAY2, OUTPUT);
}
void init_leds()
{
digitalWrite(LED1_RED, 1);
digitalWrite(LED1_GREEN, 1);
digitalWrite(LED1_BLUE, 1);
pinMode(LED1_RED, OUTPUT);
pinMode(LED1_GREEN, OUTPUT);
pinMode(LED1_BLUE, OUTPUT);
digitalWrite(LED2_RED, 1);
digitalWrite(LED2_GREEN, 1);
digitalWrite(LED2_BLUE, 1);
pinMode(LED2_RED, OUTPUT);
pinMode(LED2_GREEN, OUTPUT);
pinMode(LED2_BLUE, OUTPUT);
digitalWrite(LED3_RED, 1);
digitalWrite(LED3_GREEN, 1);
digitalWrite(LED3_BLUE, 1);
pinMode(LED3_RED, OUTPUT);
pinMode(LED3_GREEN, OUTPUT);
pinMode(LED3_BLUE, OUTPUT);
}
void init_joystick(int threshold);
byte b1, b2, b3, b4, c;
void setup()
{
Serial.begin(115200);
Serial.print("\r\nStart");
init_leds();
init_relays();
init_buttons();
init_joystick( 5 );
// autocalibrate OFF
touch_robot.set_CS_AutocaL_Millis(0xFFFFFFFF);
servos[0].attach(SERVO1);
servos[0].write(90);
servos[1].attach(SERVO2);
servos[1].write(90);
servos[2].attach(SERVO3);
servos[2].write(90);
b1 = digitalRead(BUTTON1);
b2 = digitalRead(BUTTON2);
b3 = digitalRead(BUTTON3);
b4 = digitalRead(JOY_SWITCH);
c = 0;
acc.powerOn();
}
void loop()
{
byte err;
byte idle;
static byte count = 0;
byte msg[3];
long touchcount;
if (acc.isConnected()) {
int len = acc.read(msg, sizeof(msg), 1);
int i;
byte b;
uint16_t val;
int x, y;
char c0;
if (len > 0) {
// assumes only one command per packet
if (msg[0] == 0x2) {
if (msg[1] == 0x0)
analogWrite(LED1_RED, 255 - msg[2]);
else if (msg[1] == 0x1)
analogWrite(LED1_GREEN, 255 - msg[2]);
else if (msg[1] == 0x2)
analogWrite(LED1_BLUE, 255 - msg[2]);
else if (msg[1] == 0x3)
analogWrite(LED2_RED, 255 - msg[2]);
else if (msg[1] == 0x4)
analogWrite(LED2_GREEN, 255 - msg[2]);
else if (msg[1] == 0x5)
analogWrite(LED2_BLUE, 255 - msg[2]);
else if (msg[1] == 0x6)
analogWrite(LED3_RED, 255 - msg[2]);
else if (msg[1] == 0x7)
analogWrite(LED3_GREEN, 255 - msg[2]);
else if (msg[1] == 0x8)
analogWrite(LED3_BLUE, 255 - msg[2]);
else if (msg[1] == 0x10)
servos[0].write(map(msg[2], 0, 255, 0, 180));
else if (msg[1] == 0x11)
servos[1].write(map(msg[2], 0, 255, 0, 180));
else if (msg[1] == 0x12)
servos[2].write(map(msg[2], 0, 255, 0, 180));
} else if (msg[0] == 0x3) {
if (msg[1] == 0x0)
digitalWrite(RELAY1, msg[2] ? HIGH : LOW);
else if (msg[1] == 0x1)
digitalWrite(RELAY2, msg[2] ? HIGH : LOW);
}
}
msg[0] = 0x1;
b = digitalRead(BUTTON1);
if (b != b1) {
msg[1] = 0;
msg[2] = b ? 0 : 1;
acc.write(msg, 3);
b1 = b;
}
b = digitalRead(BUTTON2);
if (b != b2) {
msg[1] = 1;
msg[2] = b ? 0 : 1;
acc.write(msg, 3);
b2 = b;
}
b = digitalRead(BUTTON3);
if (b != b3) {
msg[1] = 2;
msg[2] = b ? 0 : 1;
acc.write(msg, 3);
b3 = b;
}
b = digitalRead(JOY_SWITCH);
if (b != b4) {
msg[1] = 4;
msg[2] = b ? 0 : 1;
acc.write(msg, 3);
b4 = b;
}
switch (count++ % 0x10) {
case 0:
val = analogRead(TEMP_SENSOR);
msg[0] = 0x4;
msg[1] = val >> 8;
msg[2] = val & 0xff;
acc.write(msg, 3);
break;
case 0x4:
val = analogRead(LIGHT_SENSOR);
msg[0] = 0x5;
msg[1] = val >> 8;
msg[2] = val & 0xff;
acc.write(msg, 3);
break;
case 0x8:
read_joystick(&x, &y);
msg[0] = 0x6;
msg[1] = constrain(x, -128, 127);
msg[2] = constrain(y, -128, 127);
acc.write(msg, 3);
break;
case 0xc:
touchcount = touch_robot.capSense(5);
c0 = touchcount > 750;
if (c0 != c) {
msg[0] = 0x1;
msg[1] = 3;
msg[2] = c0;
acc.write(msg, 3);
c = c0;
}
break;
}
} else {
// reset outputs to default values on disconnect
analogWrite(LED1_RED, 255);
analogWrite(LED1_GREEN, 255);
analogWrite(LED1_BLUE, 255);
analogWrite(LED2_RED, 255);
analogWrite(LED2_GREEN, 255);
analogWrite(LED2_BLUE, 255);
analogWrite(LED3_RED, 255);
analogWrite(LED3_GREEN, 255);
analogWrite(LED3_BLUE, 255);
servos[0].write(90);
servos[0].write(90);
servos[0].write(90);
digitalWrite(RELAY1, LOW);
digitalWrite(RELAY2, LOW);
}
delay(10);
}
// ==============================================================================
// Austria Microsystems i2c Joystick
void init_joystick(int threshold)
{
byte status = 0;
pinMode(JOY_SWITCH, INPUT);
digitalWrite(JOY_SWITCH, HIGH);
pinMode(JOY_nINT, INPUT);
digitalWrite(JOY_nINT, HIGH);
pinMode(JOY_nRESET, OUTPUT);
digitalWrite(JOY_nRESET, 1);
delay(1);
digitalWrite(JOY_nRESET, 0);
delay(1);
digitalWrite(JOY_nRESET, 1);
Wire.begin();
do {
status = read_joy_reg(0x0f);
} while ((status & 0xf0) != 0xf0);
// invert magnet polarity setting, per datasheet
write_joy_reg(0x2e, 0x86);
calibrate_joystick(threshold);
}
int offset_X, offset_Y;
void calibrate_joystick(int dz)
{
char iii;
int x_cal = 0;
int y_cal = 0;
// Low Power Mode, 20ms auto wakeup
// INTn output enabled
// INTn active after each measurement
// Normal (non-Reset) mode
write_joy_reg(0x0f, 0x00);
delay(1);
// dummy read of Y_reg to reset interrupt
read_joy_reg(0x11);
for(iii = 0; iii != 16; iii++) {
while(!joystick_interrupt()) {}
x_cal += read_joy_reg(0x10);
y_cal += read_joy_reg(0x11);
}
// divide by 16 to get average
offset_X = -(x_cal>>4);
offset_Y = -(y_cal>>4);
write_joy_reg(0x12, dz - offset_X); // Xp, LEFT threshold for INTn
write_joy_reg(0x13, -dz - offset_X); // Xn, RIGHT threshold for INTn
write_joy_reg(0x14, dz - offset_Y); // Yp, UP threshold for INTn
write_joy_reg(0x15, -dz - offset_Y); // Yn, DOWN threshold for INTn
// dead zone threshold detect requested?
if (dz)
write_joy_reg(0x0f, 0x04);
}
void read_joystick(int *x, int *y)
{
*x = read_joy_reg(0x10) + offset_X;
*y = read_joy_reg(0x11) + offset_Y; // reading Y clears the interrupt
}
char joystick_interrupt()
{
return digitalRead(JOY_nINT) == 0;
}
#define JOY_I2C_ADDR 0x40
char read_joy_reg(char reg_addr)
{
char c;
Wire.beginTransmission(JOY_I2C_ADDR);
Wire.write(reg_addr);
Wire.endTransmission();
Wire.requestFrom(JOY_I2C_ADDR, 1);
while(Wire.available())
c = Wire.read();
return c;
}
void write_joy_reg(char reg_addr, char val)
{
Wire.beginTransmission(JOY_I2C_ADDR);
Wire.write(reg_addr);
Wire.write(val);
Wire.endTransmission();
}
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发表于 2013-11-11 20:06
