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-rw-r--r--arduino-src/robot.ino82
1 files changed, 82 insertions, 0 deletions
diff --git a/arduino-src/robot.ino b/arduino-src/robot.ino
new file mode 100644
index 0000000..2eda6f2
--- /dev/null
+++ b/arduino-src/robot.ino
@@ -0,0 +1,82 @@
+#define STEP_DELAY 800 /* The bigger, the slower the stepper motors */
+#define DELAY 1
+#define STEPS_PER_FULL 200
+
+
+/* Those arrays are indexed by the enum Face */
+const int step_pins[] = {2, 4, 6, 8, 10, 12};
+const int dir_pins[] = {3, 5, 7, 9, 11, 13};
+
+enum Face {
+ RIGHT,
+ LEFT,
+ UP,
+ DOWN,
+ FRONT,
+ BACK,
+};
+
+enum Rot {
+ CLOCKWISE = 0,
+ CNTRWISE = 1,
+ HALFROT,
+};
+
+void make_steps(int spin, int dpin, int dir, int steps=1) {
+ digitalWrite(dpin, !dir);
+ for (int i = 0; i < steps; i++) {
+ digitalWrite(spin, HIGH);
+ delayMicroseconds(STEP_DELAY);
+ digitalWrite(spin, LOW);
+ delayMicroseconds(STEP_DELAY);
+ }
+}
+
+void rotate_face(Face face, Rot rot) {
+ int spin = step_pins[face];
+ int dpin = dir_pins[face];
+
+ String msg = "Rotating " + String(face) + " " + String(rot);
+ Serial.println(msg);
+ switch (rot) {
+ case CLOCKWISE:
+ Serial.println("XDDDD");
+ make_steps(spin, dpin, CLOCKWISE, STEPS_PER_FULL/4);
+ break;
+ case CNTRWISE:
+ make_steps(spin, dpin, CNTRWISE, STEPS_PER_FULL/4);
+ break;
+ case HALFROT:
+ make_steps(spin, dpin, CLOCKWISE, STEPS_PER_FULL/2);
+ break;
+ default:
+ break;
+ }
+}
+
+bool get_rotation(Face &face, Rot &rot) {
+ byte b;
+ if (!Serial.readBytes(&b, 1)) {
+ return false;
+ }
+
+ face = b/3;
+ rot = b%3;
+
+ return true;
+}
+
+void setup() {
+ Serial.begin(115200);
+ for (int stepper = 0; stepper < 6; stepper++) {
+ pinMode(step_pins[stepper], OUTPUT);
+ pinMode(dir_pins[stepper], OUTPUT);
+ }
+}
+
+void loop() {
+ Face face = UP;
+ Rot rot = CLOCKWISE;
+ while (!get_rotation(face, rot));
+ rotate_face(face, rot);
+}