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#include "pitches.h" /* Code for driving remote controlled tank Includes code for: external interrupt 0 on pin 2 midi sounds through speaker using tone() on pin 8 H-bridge for driving motors Flashing LED that doesn't use a delay Serial port communication */ //Number of melodies to allocate for the speaker #define NUM_SONGS 3 //Phase Definitions #define STOPPED 0 #define FORWARD 1 #define RIGHT 2 #define LEFT 3 #define REVERSE 4 //H-Bridge Pin assignments const unsigned char PIN_HBRIDGE_1A = 5; const unsigned char PIN_HBRIDGE_2A = 3; const unsigned char PIN_HBRIDGE_3A = 6; const unsigned char PIN_HBRIDGE_4A = 9; const unsigned char ledPin = 13; // LED that will flash const unsigned char speakerPin = 8; // Speaker for melodies const unsigned char buttonPin = 2; // the number of the pushbutton pin const unsigned char int0 = 0; // pin 2 is attached to interrupt 0 //LED settings long ledInterval = 500; // interval at which to blink (milliseconds) int ledState = LOW; // start LED turned off long ledPreviousMillis = 0; // keep track of the last flash of the LED //Serial port settings unsigned char prompt = 1; // should we prompt for a keystroke? int inByte = 0; // incoming serial byte //Determines the tanks current task unsigned int phase = STOPPED; //Melody containers int melodyLength[NUM_SONGS]; int* melody[NUM_SONGS]; int* noteDurations[NUM_SONGS]; //Melody 0 int melodyLength0 = 8; int melody0[] = { NOTE_C4, NOTE_G3,NOTE_G3, NOTE_A3, NOTE_G3,0, NOTE_B3, NOTE_C4}; int noteDurations0[] = { 4, 8, 8, 4,4,4,4,4 }; //Melody 1 - Beep int melodyLength1 = 1; int melody1[] = { NOTE_C4}; int noteDurations1[] = { 2}; //Melody 2 - Lord of the Rings theme int melodyLength2 = 16; int melody2[] = { NOTE_A4,NOTE_G4,NOTE_G4,NOTE_G4,NOTE_A4, NOTE_D5,NOTE_E5,NOTE_F5,NOTE_E5,NOTE_D5,NOTE_C5,NOTE_D5,NOTE_E5, NOTE_D5,NOTE_C5,NOTE_B4}; int noteDurations2[] = { 1,1,8,8,1,8,8,1,8,8,1,8,8,1,2,2}; void setup() { //Attach pins pinMode(PIN_HBRIDGE_1A, OUTPUT); pinMode(PIN_HBRIDGE_2A, OUTPUT); pinMode(PIN_HBRIDGE_3A, OUTPUT); pinMode(PIN_HBRIDGE_4A, OUTPUT); pinMode(ledPin, OUTPUT); pinMode(buttonPin, INPUT); //Setup interrupts attachInterrupt(int0, ButtonInterrupt, RISING); // start serial port at 9600 bps: Serial.begin(9600); //Setup melodies and play startup sound CreateMelodies(); PlayMelody(0); Serial.println("Starting tank..."); } //Interrupt handler for button press void ButtonInterrupt() { //Debounce button press static unsigned long lastInterruptTime = 0; unsigned long interruptTime = millis(); // If interrupts come faster than 200ms, assume it's a bounce and ignore if(interruptTime - lastInterruptTime > 200) { //Button interrupt handler //Increment phase, rollover after 4 Serial.println("Interrupt!!"); if (++phase == 5) phase = STOPPED; } lastInterruptTime = interruptTime; } void loop() { if (prompt) { PromptKeyPress(); } if (Serial.available() > 0) { ReadKeyPress(); } //This block of code can be uncommented and adjusted //for atonomous dead reckoning of the tank /* TankForward(); delay(4000); TankRight(); delay(1500); TankForward(); delay(4000); TankLeft(); delay(1500); TankStop(); delay(2000); */ switch(phase) { case STOPPED: TankStop(); Serial.println("Tank stop"); break; case FORWARD: TankForward(); Serial.println("Tank forward"); break; case RIGHT: TankRight(); Serial.println("Tank right"); break; case LEFT: TankLeft(); Serial.println("Tank left"); break; case REVERSE: TankReverse(); Serial.println("Tank reverse"); break; default: TankStop(); Serial.println("Tank stop"); break; } FlashLed(); // PlayMelody(1); } //Sets up melodies void CreateMelodies() { Serial.println("Creating melodies..."); melodyLength[0] = melodyLength0; melody[0] = melody0; noteDurations[0] = noteDurations0; melodyLength[1] = melodyLength1; melody[1] = melody1; noteDurations[1] = noteDurations1; melodyLength[2] = melodyLength2; melody[2] = melody2; noteDurations[2] = noteDurations2; Serial.println("Done."); } //Plays melodies by assigned number void PlayMelody(int s) { Serial.println("Playing melody..."); // iterate over the notes of the melody: for (int thisNote = 0; thisNote < melodyLength[s]; thisNote++) { // to calculate the note duration, take one second // divided by the note type. //e.g. quarter note = 1000 / 4, eighth note = 1000/8, etc. int noteDuration = 1000/noteDurations[s][thisNote]; tone(speakerPin, melody[s][thisNote],noteDuration); // to distinguish the notes, set a minimum time between them. // the note's duration + 30% seems to work well: int pauseBetweenNotes = noteDuration * 1.30; delay(pauseBetweenNotes); } Serial.println("Done."); } void PromptKeyPress() { Serial.println("Press a number"); prompt = 0; } //Read key presses over serial void ReadKeyPress() { inByte = Serial.read(); switch (inByte) { case '2': phase = REVERSE; break; case '4': phase = LEFT; break; case '5': phase = STOPPED; break; case '6': phase = RIGHT; break; case '8': phase = FORWARD; break; default: Serial.println("Invalid command"); break; } prompt = 1; } //Flashes onboard LED periodically without using DELAY void FlashLed() { if (millis() - ledPreviousMillis > ledInterval) { // save the last time you blinked the LED ledPreviousMillis = millis(); // if the LED is off turn it on and vice-versa: if (ledState == LOW) ledState = HIGH; else ledState = LOW; // set the LED with the ledState of the variable: digitalWrite(ledPin, ledState); } } //These functions control the tank void TankForward() { MotorLeftForward(); MotorRightForward(); } void TankStop() { MotorLeftStop(); MotorRightStop(); } void TankReverse() { MotorLeftReverse(); MotorRightReverse(); } void TankLeft() { MotorLeftForward(); MotorRightReverse(); } void TankRight() { MotorLeftReverse(); MotorRightForward(); } //These functions perform the low-level control of H-Bridge void MotorRightStop() { digitalWrite(PIN_HBRIDGE_1A, LOW); digitalWrite(PIN_HBRIDGE_2A, LOW); } void MotorRightForward() { digitalWrite(PIN_HBRIDGE_1A, HIGH); digitalWrite(PIN_HBRIDGE_2A, LOW); } void MotorRightReverse() { digitalWrite(PIN_HBRIDGE_1A, LOW); digitalWrite(PIN_HBRIDGE_2A, HIGH); } void MotorLeftStop() { digitalWrite(PIN_HBRIDGE_3A, LOW); digitalWrite(PIN_HBRIDGE_4A, LOW); } void MotorLeftForward() { digitalWrite(PIN_HBRIDGE_3A, LOW); digitalWrite(PIN_HBRIDGE_4A, HIGH); } void MotorLeftReverse() { digitalWrite(PIN_HBRIDGE_3A, HIGH); digitalWrite(PIN_HBRIDGE_4A, LOW); }

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