67 lines
1.5 KiB
C++
67 lines
1.5 KiB
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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// This is a variable capable of storing up to 4 items
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char instruction[32] = "";
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// Values for the id, and raw value of an instruction
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char * id;
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char * raw_value;
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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 only useful for debugging
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//Serial.begin(9600);
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// This is the address the pi will speak to us at
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Wire.begin(0x4);
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// Call receiveEvent when data received
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Wire.onReceive(receiveEvent);
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//Serial.println("Finished Setup.");
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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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for (int i = 0; i < n; i++) {
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instruction[i] = Wire.read();
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instruction[i + 1] = '\0'; //add null after ea. char
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}
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//RPi first byte is cmd byte so shift everything to the left 1 pos so temp contains our string
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for (int i = 0; i < n; ++i)
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instruction[i] = instruction[i + 1];
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id = strtok (instruction, "-");
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raw_value = strtok (NULL, "-");
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int value = atoi(raw_value);
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//Serial.println(id);
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//Serial.println(value);
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// Switch statements dont work on char *
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if (strcmp(id,"WIPE") == 0) // if id, and WIPE cancel out
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{
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windowWiperServo.write(value);
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}
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}
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