Implement PixelBotController for single-brain robots. Hooray! Now we just need to test it....

PixelHub-Client/PixelBot.cpp

@@ -121,25 +121,19 @@ bool PixelBot::Connect()
 void PixelBot::Listen()
 {
 	while(true) {
-		if(!Tick()) {
-			Serial.println("[PixelBot/Server] Exiting main loop.");
-			break;
-		}
-	}
-}
-
-bool PixelBot::Tick()
-{
-	// Make sure that there's something to read
-	if(tcpClient.available() == 0) {
-		delay(10);
-		return true;
+    Serial.println("[PixelBot/Server] Entering main loop.");
+    
+    // Make sure that there's something to read
+    if(tcpClient.available() == 0) {
+      delay(10); // sleep for 10ms
+      continue;
+    }
+
+    String nextLine = tcpClient.readStringUntil('\n');
+    Serial.print(" > "); Serial.println(nextLine);
+
+    
 	}
-	
-	String nextLine = tcpClient.readStringUntil('\n');
-	Serial.print(" > "); Serial.println(nextLine);
-
-	return true;
 }
 
 bool PixelBot::processCommand(String command)

PixelHub-Client/PixelBotController.cpp

@@ -1,8 +1,10 @@
 #include "PixelBotController.h"
 
+#include <Arduino.h>
+
 PixelBotController::PixelBotController()
 {
-	
+  
 }
 
 PixelBotController::~PixelBotController()
@@ -10,3 +12,54 @@ PixelBotController::~PixelBotController()
 	
 }
 
+unsigned long PixelBotController::GetTicksTravelled()
+{
+  return ticksTravelled;
+}
+
+void PixelBotController::MoveDistance(int direction, int ticks)
+{
+  for(int i = 0; i < ticks; i++) {
+    MoveTick(direction);
+    delay(tickDelay);
+  }
+}
+
+void PixelBotController::MoveTick(int direction)
+{
+  for(int i = 0; i < 8; i++)
+  {
+    switch(direction) {
+      case STOP:
+        return;
+      case FORWARD:
+        setOutputDir(i,7-i);
+        break;
+      case BACK:
+        setOutputDir(7-i,i);
+        break;
+      case LEFT:
+        setOutputDir(7-i,7-i);
+        break;
+      case RIGHT:
+        setOutputDir(i,i);
+        break;
+    }
+    delayMicroseconds(motorSpeed);
+  }
+  ticksTravelled++;
+}
+
+void PixelBotController::sendTickPart(int leftCode, int rightCode)
+{
+  digitalWrite(lmotorPin1, bitRead(motorLookup[leftCode], 0));
+  digitalWrite(lmotorPin2, bitRead(motorLookup[leftCode], 1));
+  digitalWrite(lmotorPin3, bitRead(motorLookup[leftCode], 2));
+  digitalWrite(lmotorPin4, bitRead(motorLookup[leftCode], 3));
+  
+  digitalWrite(rmotorPin1, bitRead(motorLookup[rightCode], 0));
+  digitalWrite(rmotorPin2, bitRead(motorLookup[rightCode], 1));
+  digitalWrite(rmotorPin3, bitRead(motorLookup[rightCode], 2));
+  digitalWrite(rmotorPin4, bitRead(motorLookup[rightCode], 3));
+}
+

PixelHub-Client/PixelBotController.h

@@ -1,6 +1,5 @@
 #pragma once
 
-
 /// <summary>
 /// Connects to a PixelHub server, receives commands, and acts upon them.
 /// </summmary>
@@ -9,14 +8,35 @@ class PixelBotController
 public:
 	PixelBotController();
 	~PixelBotController();
-	
-	
-	
+  
+  static const int STOP = 0;
+  static const int FORWARDS = 1;
+  static const int BACKWARDS = 2;
+  static const int LEFT = 3;
+  static const int RIGHT = 4;
+
+  void MoveDistance(int direction, int ticks);
+	void MoveTick(int direction); 
+
+  unsigned long GetTicksTravelled();
+  
 private:
-	int motorLookup[8] = {B01000, B01100, B00100, B00110, B00010, B00011, B00001, B01001};
+  const int rmotorPin1 = 16;
+  const int rmotorPin2 = 5;
+  const int rmotorPin3 = 4;
+  const int rmotorPin4 = 0;
   
-  int motorSpeed = 1200;  //variable to set stepper speed
-  int count = 0;          // count of steps made
-  int countsperrev = 512; // number of steps per full revolution
-};
+  const int lmotorPin1 = 2;
+  const int lmotorPin2 = 14;
+  const int lmotorPin3 = 12;
+  const int lmotorPin4 = 13;
+  
+  int motorLookup[8] = { 0b01000, 0b01100, 0b00100, 0b00110, 0b00010, 0b00011, 0b00001, 0b01001 };
+  
+  int motorSpeed = 1200;            // The speed at which the stepper motor accepts bits
+  unsigned long ticksTravelled = 0; // Number of steps travelled (including turns)
+  int ticksPerRevolution = 512;     // Number of steps per full revolution of the wheels
+  int tickDelay = 1;                // The delay in between ticks
 
+  void sendTickPart(int leftCode, int rightCode);
+};