45 lines
938 B
C++
45 lines
938 B
C++
/* Crawler Slave
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*
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* This code runs on the crawler i2c network
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* and provides a cleaner, less CPU intensive control over PWM devices.
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*/
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#include <Wire.h>
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#include <Servo.h>
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// This servo is used to wipe and clean the camera lens
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Servo windowWiperServo;
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// Variables populated over i2c from master
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int id;
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int val;
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void setup() {
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// Attach the wiper servo to pin 9
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windowWiperServo.attach(9);
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// This is the address the pi will speak to us at
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Wire.begin(0x8);
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// Call receiveEvent when data received
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Wire.onReceive(receiveEvent);
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}
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// Just loop to keep the running code alive, and wait for events to happen.
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void loop() {
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delay(50);
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}
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// This method runs when we receive a message
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void receiveEvent(int n) {
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id = Wire.read(); // ID of the servo/device to access
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val = Wire.read(); // Value to assign
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switch(id) {
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case 1:
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windowWiperServo.write(val);
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break;
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}
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}
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