Initial version of Arduino code

1 files changed, 133 insertions, 0 deletions

diff --git a/Venus_Skeleton/Venus_Skeleton.ino b/Venus_Skeleton/Venus_Skeleton.ino
new file mode 100644
index 0000000..f985271
--- /dev/null
+++ b/Venus_Skeleton/Venus_Skeleton.ino
@@ -0,0 +1,133 @@
+// *****************
+// ** DEFINITIONS **
+// *****************
+
+// Pin configuration
+#define pinSensCompass
+#define pinSensObstacleTurret
+#define pinSensIRLeft
+#define pinSensIRRight
+#define pinSensSampleTurret
+#define pinSensSampleGripper
+#define pinSensBeaconTurret
+#define pinSensLab
+
+// Location values
+int currValRobotX;
+int currValRobotY;
+
+// Sensor values
+int currValSensCompass;
+int currValSensObstacleTurret;
+int currValServoTurret;
+
+// Actuator values
+int currValTurret;
+
+// Calibration values
+#define calObstacleTurretMaxDist 50
+#define calObstacleTurretMinDist 10
+#define calIRLeftThreshold 2
+#define calIRRightThreshold 2
+#define cal
+
+// RPi Data type declarations
+enum DataType {COMPASS, OBSTACLETURRET, IRLEFT, IRRIGHT, SAMPLETURRET, SAMPLEGRIPPER, BEACONTURRET, LAB};
+
+
+// **********************
+// ** PI COMMUNICATION **
+// **********************
+
+// sendData to Raspberry Pi
+void sendData(int method, int data, int data1 = null, int data2 = null) {
+  
+}
+
+
+// **********************
+// ** SENSOR FUNCTIONS **
+// **********************
+
+// sensor Compass, orientation
+int sensCompass() {
+  int degree = 359;
+  sendData(COMPASS, degree);
+  return degree;
+}
+
+// sensor Ultrasound, distance measurement
+int sensObstacleTurret() {
+  int distance = 100;
+  int turretAngle = 90;
+  sendData(OBSTACLETURRET, distance, turretAngle);
+  return distance;
+}
+
+// sensor IR, line detection
+boolean sensIRLeft() {
+  // Inaccessible terrain. True for inaccessible, false for accessible
+  boolean inaccessible = false;
+  if(inaccessible) {
+    stopMovement();
+    sendData(IRLEFT, currValRobotX, currValRobotY, currValSensCompass);
+  }
+  return inaccessible;
+}
+int sensIRRight() {
+  // Inaccessible terrain. True for inaccessible, false for accessible
+  boolean inaccessible = false;
+  if(inaccessible) {
+    stopMovement();
+    sendData(IRRIGHT, currValRobotX, currValRobotY, currValSensCompass);
+  }
+  return inaccessible;
+}
+
+// sensor IR, sample detection
+int sensSampleTurret() {
+  boolean sample = false;
+  if(sample) {
+    stopAllServos();
+    sendData(SAMPLETURRET, currValRobotX, currValRobotY, currValSensCompass, currValTurret);
+  }
+}
+int sensSampleGripper() {
+  boolean sample = false;
+  if(sample) {
+    stopAllServos();
+    sendData(SAMPLEGRIPPER, currValRobotX, currValRobotY, currValSensCompass);
+  }
+}
+
+// sensor IR, beacon detection and recognition
+int sensBeaconTurret() {
+  int beacon = 0;
+  if(beacon) {
+    // Location
+  }
+}
+
+// sensor IR, lab detection
+int sensLab() {
+  return 0;
+}
+
+// ************************
+// ** ACTUATOR FUNCTIONS **
+// ************************
+
+void stopMovement() {
+  
+}
+void stopAllServos() {
+  
+}
+
+void setup() {
+  
+}
+
+void loop() {
+  
+}