46 lines
1.0 KiB
C++
46 lines
1.0 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[4] = "";
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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(0x8);
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// Call receiveEvent when data received
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Wire.onReceive(receiveEvent);
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Serial.print("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++) //n is equal to the number of data bytes received
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{
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instruction[i] = Wire.read();
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}
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Serial.print(instruction);
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}
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