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1 changed files with 36 additions and 6 deletions

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@ -10,16 +10,27 @@
// This servo is used to wipe and clean the camera lens
Servo windowWiperServo;
// 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() {
// Attach the wiper servo to pin 9
windowWiperServo.attach(9);
// This is only useful for debugging
Serial.begin(9600);
// This is the address the pi will speak to us at
Wire.begin(0x8);
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.
@ -28,9 +39,28 @@ void loop() {
}
// This method runs when we receive a message
void receiveEvent(int howMany) {
while (Wire.available()) { // loop through all but the last
int pos = Wire.read(); // receive byte as a int
windowWiperServo.write(pos);
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);
}
}