Added last year's brake code

As far as I can tell, this is the code that is currently on buggy. Speak
now/soon, or forever hold your peace.

arduino_src/RCBuggyBackup.ino

@@ -0,0 +1,132 @@
+/*
+  Makes Arduino receive input from xbee and parse data.
+
+ The circuit:
+ * RX is digital pin 2 (connect to TX of XBee)
+ * TX is digital pin 3 (connect to RX of XBee)
+
+ */
+
+//#include <SoftwareSerial.h>
+#include <Servo.h>
+
+#define BRAKE_PIN 8
+#define BRAKE_INDICATOR_PIN 5
+
+#define SERVO_PIN 9
+#define STEERING_CENTER 133
+
+#define XBEE_MSG_REC 4
+
+Servo myservo;  // create servo object to control a servo
+
+unsigned long timer = 0L;
+char data;
+String message;
+char intbuf[32];
+int brake = 0;
+int steeringAngle = STEERING_CENTER;
+int pingPong = 1;
+int startfound = 0;
+int midfound = 0;
+int endfound = 1;
+
+//code that keeps loop time constant each loop
+int hz = 40;
+int print_period = 1000 / hz;
+unsigned long last_time = 0;
+
+void setup()  {
+  Serial.begin(9600);
+  Serial1.begin(9600);
+
+  pinMode(XBEE_MSG_REC, OUTPUT);
+
+  // initialize the brake with brake pin and led brake pin
+  brake_init(brakePin, brakeLedPin);
+
+
+  myservo.attach(SERVO_PIN);  // attaches the servo on pin 9 to the servo object
+  myservo.write(STEEING_CENTER);
+}
+
+void loop() {
+
+  // receive and parse message from xbee
+  if(Serial1.available() > 0) {
+
+    timer = millis();
+
+    // read message from xbee
+    data = Serial1.read();
+
+    // parse message data
+    if (data == 'A') {
+      startfound = 1;
+      midfound = 0;
+      endfound = 0;
+      message = "";
+    }
+    else if (data == 'B') {
+      startfound = 0;
+      midfound = 1;
+      endfound = 0;
+    }
+    else if (data == 'C') {
+      startfound = 0;
+      midfound = 0;
+      endfound = 1;
+    }
+    else if (startfound) {
+      message = message + data;
+    }
+    else if (midfound) {
+      if(data == '1')
+        brake = 1;
+      else
+        brake = 0;
+      message.toCharArray(intbuf, sizeof(intbuf));
+      steeringAngle = atoi(intbuf);
+    }
+
+    // flop external LED everytime message is recieved
+    if ( pingPong == 0 ) {
+      digitalWrite(4, LOW);
+    }
+    else {
+      digitalWrite(4, HIGH);
+    }
+
+    pingPong = 1 - pingPong;
+
+  } // end receive message
+
+  // brake if it has been greater than 3 seconds since we last got a message
+  if( (millis() - timer) > 5000L ) {
+    digitalWrite(8, 0);
+    digitalWrite(5, HIGH);
+    exit(1);
+  }
+
+  if((millis() - timer) > 2000L) {
+    digitalWrite(12, HIGH);
+  }
+  else {
+    digitalWrite(12, LOW);
+  }
+
+  // make brake LED light up if brakes should be down
+  if( brake == 0 ) {
+    digitalWrite(5, HIGH);
+  }
+  else {
+    digitalWrite(5, LOW);
+  }
+
+  // send parsed signal to brakes and servo
+  digitalWrite(8, brake);
+
+  // sets the servo position
+  myservo.write(steeringAngle);
+}
+

arduino_src/RadioBuggyMega.ino

@@ -0,0 +1,87 @@
+/**
+ * @file RadioBuggyMega.ino
+ * @author Haley Dalzell (haylee)
+ * @author Zach Dawson (zachyzach)
+ * @author Matt Sebek (msebek)
+ */
+#include <Servo.h>
+
+#define BRAKE_PIN 8
+#define BRAKE_INDICATOR_PIN 5
+
+#define ENCODER_PIN 7
+
+#define STEERING_PIN 9
+#define STEERING_CENTER 133
+
+#define THR_PIN 2
+#define AIL_PIN 3
+
+#define XBEE_MSG_REC 4
+
+#define XBEE_DANGER 12
+
+unsigned long timer = 0L;
+static char data; // used to pass things into xbee
+int brake = 0;
+
+
+enum STATE { START, RC_CON, RC_DC, BBB_CON };
+
+void setup()  {
+  Serial.begin(9600);
+  Serial1.begin(9600);
+
+  pinMode(XBEE_MSG_REC, OUTPUT);
+
+  // Initialize Buggy
+  // Pins 2 and 3: pin 2 is thr, pin 3 is ail
+  receiver_init();
+  brake_init(BRAKE_PIN, BRAKE_INDICATOR_PIN);
+  steering_init(STEERING_PIN);
+  encoder_init(ENCODER_PIN);
+
+  // Set up loop
+  last_time = millis();
+}
+
+int convert_rc_to_steering(int rc_angle) {
+  int out = (input/4)+(90*3/4)+39;
+  if(out < 105 || out > 160) {
+    Serial.println("FAKFAKFAK SERVO OUT OF RANGE");
+    Serial.println(out);
+    out = 129;
+  }
+}
+
+//code that keeps loop time constant each loop
+static int hz = 40;
+static int print_period = 1000 / hz;
+static unsigned long last_time = 0;
+
+static int rc_angle;
+static int rc_thr;
+void loop() {
+
+  if(rc_available[THR_INDEX]) {
+    rc_angle = receiver_get_angle(THR_INDEX);
+  }
+
+  steering_set(convert_rc_to_steering(rc_angle));
+
+  if(rc_available[AIL_INDEX]) {
+    rc_thr receiver_get_angle(THR_PIN);
+  }
+
+  // Loop
+  encoder_loop();
+  xbee_loop();
+
+  // If timer expired, then do ROS things
+  if((last_time - millis()) > 0) {
+    Serial.println("Loop!");
+
+
+  }
+
+}

arduino_src/brake.c

@@ -0,0 +1,33 @@
+/**
+ * @file brake.c
+ * @author Audrey Yeoh (ayeoh)
+ * @author Matt Sebek (msebek)
+ */
+#include <Arduino.h>
+#include "brake.h"
+
+static int brake_pin;
+// Indicator LED pin number
+static int indicator_pin;
+
+void brake_init(int brakePin, int indicatorLed) {
+  pinMode(brake_pin, OUTPUT);
+  pinMode(indicatorLed, OUTPUT);
+  brake_pin = brakePin;
+  indicator_pin = indicatorLed;
+}
+
+// Note: High-voltage raises the brake.
+// Raises the brake
+// Do not call before brake_init
+void brake_raise() {
+  digitalWrite(brake_pin, HIGH);
+  digitalWrite(indicator_pin, LOW);
+}
+
+// Drops the brake
+// Do not call before brake_init
+void brake_drop() {
+  digitalWrite(brake_pin, LOW);
+  digitalWrite(indicator_pin, HIGH);
+}

arduino_src/brake.h

@@ -0,0 +1,19 @@
+/**
+ * @file brake.h
+ * @author Audrey Yeoh (ayeoh)
+ * @author Matt Sebek (msebek)
+ *
+ * Initializes, raises, drops, and gets-state of
+ * the brakes.
+ *
+ */
+#ifndef _BRAKE_H_
+#define _BRAKE_H_
+
+  void brake_init(int brakePin, int indicatorLedPin);
+
+  void brake_raise();
+
+  void brake_drop();
+
+#endif

arduino_src/encoder.c

@@ -0,0 +1,36 @@
+/**
+ * @file encoder.c
+ * @author Audrey Yeoh (ayeoh)
+ * @author Matt Sebek (msebek0
+ */
+
+static int input_pin;
+
+static int count=0;
+// 1 if was high, 0 if was low
+static int state=0;
+
+void encoder_init(int encoder_pin) {
+  input_pin = encoder_pin;
+  pinMode(input_pin, INPUT);
+}
+
+// Every X ms, publish. (or perish!!)
+void encoder_publish() {
+  if (last_time < (millis() - print_period)) {
+    Serial.println(count);
+    last_time = millis();
+  }
+}
+
+int encoder_get_count() {
+  return count;
+}
+
+// Lightweight, checks low-pri encoder loop
+void encoder_loop(){
+  if (state != digital_read(input_pin)){
+    count++;
+    state = !state;
+  }
+}

arduino_src/encoder.h

@@ -0,0 +1,15 @@
+/**
+ * @file encoder.h
+ * @author Audrey Yeoh (ayeoh)
+ * @author Matt Sebek (msebek0
+ */
+
+void encoder_init(int encoder_pin);
+
+// Every X ms, publish.
+void encoder_publish();
+
+int encoder_get_count();
+
+// Lightweight, checks low-pri encoder loop
+void encoder_loop();