README.md

@@ -1,7 +0,0 @@
-# To install on robot
-
-```
-git clone <url>
-cd lewis-crawler/crawler_software/raspberry_pi
-make install?
-```

crawler_software/arduino/crawler_slave/crawler_slave.ino

@@ -10,28 +10,27 @@
 // This servo is used to wipe and clean the camera lens
 Servo windowWiperServo;
 
-// Variables populated over i2c from master
+// This is a variable capable of storing up to 4 items
-int id;
+char instruction[32] = "";
-int val;
+
+// Values for the id, and raw value of an instruction
+char * id;
+char * raw_value;
 
 void setup() {
-  // For debugging
-  //Serial.begin(115200);
-  
   // 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(0x4);
   
   // Call receiveEvent when data received                
   Wire.onReceive(receiveEvent);
 
-  // Setup LED
+  //Serial.println("Finished Setup.");  
-  pinMode(LED_BUILTIN, OUTPUT);
-  digitalWrite(LED_BUILTIN, LOW);
-
-  //Serial.println("Started");
 }
 
 // Just loop to keep the running code alive, and wait for events to happen.
@@ -41,20 +40,27 @@ void loop() {
 
 // This method runs when we receive a message
 void receiveEvent(int n) {
-  Wire.read();
+
-  digitalWrite(LED_BUILTIN, HIGH);
+  for (int i = 0; i < n; i++) {
-  if (true) { // Dont do anything if this is not true
+    instruction[i] = Wire.read();
-    id  = Wire.read(); // ID of the servo/device to access
+    instruction[i + 1] = '\0'; //add null after ea. char
-    val = Wire.read(); // Value to assign
+  }
+
+  //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(val);
+  //Serial.println(value);
 
-    switch(id) {
+  // Switch statements dont work on char *
-      case 1:
+  if (strcmp(id,"WIPE") == 0) // if id, and WIPE cancel out
-        windowWiperServo.write(val);
+  {
-        break;
+    windowWiperServo.write(value);
   }
 }
-  digitalWrite(LED_BUILTIN, LOW);
-}