Merge branch 'crawler-software' of https://kitsunehosting.net/gitea/Kenwood/lewis-crawler into crawler-software

crawler_software/arduino/crawler_slave/crawler_slave.ino

@@ -1,33 +1,66 @@
-/* Sweep
- by BARRAGAN <http://barraganstudio.com>
- This example code is in the public domain.
-
- modified 8 Nov 2013
- by Scott Fitzgerald
- http://www.arduino.cc/en/Tutorial/Sweep
-*/
+/* Crawler Slave
+ *  
+ *  This code runs on the crawler i2c network
+ *  and provides a cleaner, less CPU intensive control over PWM devices.
+ */
 
+#include <Wire.h>
 #include <Servo.h>
 
-Servo myservo;  // create servo object to control a servo
-// twelve servo objects can be created on most boards
+// This servo is used to wipe and clean the camera lens
+Servo windowWiperServo;
 
-int pos = 0;    // variable to store the servo position
+// This is a variable capable of storing up to 4 items
+char instruction[32] = "";
+
+// Values for the id, and raw value of an instruction
+char * id;
+char * raw_value;
 
 void setup() {
-  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
+  // Attach the wiper servo to pin 9
+  windowWiperServo.attach(9);
 
-  for (pos = 70; pos <= 130; pos += 1) { // goes from 0 degrees to 180 degrees
-    // in steps of 1 degree
-    myservo.write(pos);              // tell servo to go to position in variable 'pos'
-    delay(15);                       // waits 15ms for the servo to reach the position
-  }
-  for (pos = 130; pos >= 70; pos -= 1) { // goes from 180 degrees to 0 degrees
-    myservo.write(pos);              // tell servo to go to position in variable 'pos'
-    delay(15);                       // waits 15ms for the servo to reach the position
-  }
+  // This is only useful for debugging
+  //Serial.begin(9600);
+
+  // This is the address the pi will speak to us at
+  Wire.begin(0x4);
+  
+  // Call receiveEvent when data received                
+  Wire.onReceive(receiveEvent);
+
+  //Serial.println("Finished Setup.");  
 }
 
+// Just loop to keep the running code alive, and wait for events to happen.
 void loop() {
-  delay(1000);
+  delay(50);
+}
+
+// This method runs when we receive a message
+void receiveEvent(int n) {
+
+  for (int i = 0; i < n; i++) {
+    instruction[i] = Wire.read();
+    instruction[i + 1] = '\0'; //add null after ea. char
+  }
+
+  //RPi first byte is cmd byte so shift everything to the left 1 pos so temp contains our string
+  for (int i = 0; i < n; ++i)
+    instruction[i] = instruction[i + 1];
+
+  id = strtok (instruction, "-");
+  raw_value = strtok (NULL, "-");
+
+  int value = atoi(raw_value);
+
+  //Serial.println(id);
+  //Serial.println(value);
+
+  // Switch statements dont work on char *
+  if (strcmp(id,"WIPE") == 0) // if id, and WIPE cancel out
+  {
+    windowWiperServo.write(value);
+  }
 }

crawler_software/raspberry_pi/crawler.service

@@ -0,0 +1,11 @@
+[Unit]
+Description=Crawler service overseer, manages running main crawler software
+After=multi-user.target
+
+[Service]
+Type=simple
+Restart=always
+ExecStart=/usr/bin/python /srv/crawler/crawler.py
+
+[Install]
+WantedBy=multi-user.target